An observer design for constrained robot systems

Huang, Han‐Pang; Tseng, Wen-Sheng

doi:10.1109/cdc.1988.194737

Cited by 5 publications

(5 citation statements)

References 9 publications

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“…The numerical technique of robotic mechanism has been achieved (Gopal, Murugesan, & Murugesh, 2006). The usages of nonlinear differential algebraic control systems to restrained robotic system have been studied by Huang & Tseng (Huang & Tseng, 1991).…”

Section: Mechanical Robotic Arm Representationmentioning

confidence: 99%

A numerical approach for solving problems in robotic arm movement

ALSultan

Ali

Hamid

2018

Production & Manufacturing Research

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Mechanical robotic arm control problems are examined in the numerical solutions for the second order system with the R. Kutta algorithms. The dynamics of a robotic arm be able to designated by a set of combined non-linear equations in the formula of coriolis, centrifugal effects and gravitational torques. This investigation attempted to minimize the error of an industrial robotic arm, which improves production systems. Results of comparisons illustrate the effectiveness of the numerical integrating algorithm based on the actual joint velocities and positions with each instant of time between the exact and numerical solutions. The obtained tables of data help to analyze the variation in the velocity and position joints at different time. The numerical results obtained by R.kutta-techniques perfectly match with the exact velocities. Depending on the relative error calculated at the obtained tables of results to reach the required motion of the mechanical robot arm.

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Section: Mechanical Robotic Arm Representationmentioning

confidence: 99%

A numerical approach for solving problems in robotic arm movement

ALSultan

Ali

Hamid

2018

Production & Manufacturing Research

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“…Huang and Tseng [7] designed an observer for constrained robots where the constraint surface was known, and contact force as well as state variables could be estimated. Ohishi et al [8] proposed an H ∞ acceleration controller for hybrid force/position control of robotic manipulators, where a disturbance torque observer was used to estimate contact forces.…”

Section: Introductionmentioning

confidence: 99%

Contact force estimation for backdrivable robotic manipulators with coupled friction

Naerum

Cornella

Elle

2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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A hybrid model/learning-based dynamic equation has been developed for robots in order to take advantage of the attractive features of both techniques. The regular dynamic equation is used to model the ideal behavior, while wavelets are used to learn the joint friction. The friction may be coupled, such that it is a function of the velocity of multiple joints. Furthermore, a system identification method has been designed to improve contact force estimation, using manual hand excitation in addition to motor excitation. The hybrid dynamic equation was implemented for the PHANTOM Omni haptic device (SensAble Technologies, MA, USA), and experiments were performed to compare using manual excitation with using motor excitation only. The results showed that manual excitation improved contact force estimation performance, with improvements in the relative RMS values ranging from 21% to 35%.

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“…The applications of non-linear differential-algebraic control systems to constrained robot systems have been discussed by Krishnan and Mcclamroch [22]. Asymptotic observer design for constrained robot systems have been analyzed by Huang and Tseng [21]. Using fourth order Runge-Kutta method based on Heronian mean (RKHeM) an attempt has been made to study the parameters concerning the control of a robot arm modelled along with the single term Walsh series (STWS) method [24].…”

Section: Introductionmentioning

confidence: 99%