Enhanced null space control using hierarchical workspace disturbance observer

Mohamed Sorour, Toshiyuki Murakami

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 17th International Conference on Advanced Robotics, ICAR 2015
編集者Uluc Saranli, Sinan Kalkan
出版社Institute of Electrical and Electronics Engineers Inc.
ページ9-14
ページ数6
ISBN(電子版)9781467375092
DOI
出版ステータスPublished - 2015 10月 13
イベント17th International Conference on Advanced Robotics, ICAR 2015 - Istanbul, Turkey
継続期間: 2015 7月 272015 7月 31

出版物シリーズ

名前Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015

Other

Other17th International Conference on Advanced Robotics, ICAR 2015
国/地域Turkey
CityIstanbul
Period15/7/2715/7/31

ASJC Scopus subject areas

  • コンピュータ ビジョンおよびパターン認識
  • 電子工学および電気工学
  • 人工知能

引用スタイル