Abstract
Workspace disturbance observer was developed as further enhancement for the successful joint space observer. In its derivation it was assumed that the null space projector computation could be avoided. However limited performance has been reported for the workspace version. This work shows that the null space projector computation is essential for achieving the expected high performance in workspace. Experimental evaluation revealed the extra advantage of the workspace disturbance observer in terms of higher performance of the null space tasks.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 9-14 |
| Number of pages | 6 |
| ISBN (Print) | 9781467375092 |
| DOIs | |
| Publication status | Published - 2015 Oct 13 |
| Event | 17th International Conference on Advanced Robotics, ICAR 2015 - Istanbul, Turkey Duration: 2015 Jul 27 → 2015 Jul 31 |
Other
| Other | 17th International Conference on Advanced Robotics, ICAR 2015 |
|---|---|
| Country | Turkey |
| City | Istanbul |
| Period | 15/7/27 → 15/7/31 |
ASJC Scopus subject areas
- Computer Vision and Pattern Recognition
- Electrical and Electronic Engineering
- Artificial Intelligence
Cite this
Enhanced null space control using hierarchical workspace disturbance observer. / Sorour, Mohamed; Murakami, Toshiyuki.
Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 9-14 7251426.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Enhanced null space control using hierarchical workspace disturbance observer
AU - Sorour, Mohamed
AU - Murakami, Toshiyuki
PY - 2015/10/13
Y1 - 2015/10/13
N2 - Workspace disturbance observer was developed as further enhancement for the successful joint space observer. In its derivation it was assumed that the null space projector computation could be avoided. However limited performance has been reported for the workspace version. This work shows that the null space projector computation is essential for achieving the expected high performance in workspace. Experimental evaluation revealed the extra advantage of the workspace disturbance observer in terms of higher performance of the null space tasks.
AB - Workspace disturbance observer was developed as further enhancement for the successful joint space observer. In its derivation it was assumed that the null space projector computation could be avoided. However limited performance has been reported for the workspace version. This work shows that the null space projector computation is essential for achieving the expected high performance in workspace. Experimental evaluation revealed the extra advantage of the workspace disturbance observer in terms of higher performance of the null space tasks.
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UR - http://www.scopus.com/inward/citedby.url?scp=84957653429&partnerID=8YFLogxK
U2 - 10.1109/ICAR.2015.7251426
DO - 10.1109/ICAR.2015.7251426
M3 - Conference contribution
SN - 9781467375092
SP - 9
EP - 14
BT - Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015
PB - Institute of Electrical and Electronics Engineers Inc.
ER -