Enhanced null space control using hierarchical workspace disturbance observer

Mohamed Sorour, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publicationProceedings of the 17th International Conference on Advanced Robotics, ICAR 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages9-14
Number of pages6
ISBN (Print)9781467375092
DOIs
Publication statusPublished - 2015 Oct 13
Event17th International Conference on Advanced Robotics, ICAR 2015 - Istanbul, Turkey
Duration: 2015 Jul 272015 Jul 31

Other

Other17th International Conference on Advanced Robotics, ICAR 2015
CountryTurkey
CityIstanbul
Period15/7/2715/7/31

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering
  • Artificial Intelligence

Cite this

Sorour, M., & Murakami, T. (2015). Enhanced null space control using hierarchical workspace disturbance observer. In Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015 (pp. 9-14). [7251426] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICAR.2015.7251426