Neural Network-Based Joint Velocity Estimation Method for Improving Robot Control Performance
Dongwhan Kim,
Soonwook Hwang,
Myotaeg Lim
et al.
Abstract:Joint velocity estimation is one of the essential properties that implement for accurate robot motion control. Although conventional approaches such as numerical differentiation of position measurements and model-based observers exhibit feasible performance for velocity estimation, instability can be occurred because of phase lag or model inaccuracy. This study proposes a model-free approach that can estimate the velocity with less phase lag by batch training of a neural network with pre-collected encoder meas… Show more
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