A solution to the problems in deriving true robot end velocity

This paper addresses the problems in deriving true robot end effector velocity. Due to technological difficulties, direct measurement of robot end velocity has not been achieved. Present techniques have relied basically on approximation in deriving this velocity. An analysis shows that there is a non-negligible discrepancy between the true end velocity and that obtained by existing techniques. Our work on proximity sensing and direct robot end effector position feedback has necessitated the need for accurate and reliable robot end velocity. As the existing methods are not capable of this task, we propose a new measurement and filtering technique to derive the end velocity more reliably for a robot with highly uncertain vibrational modes. The effectiveness of the approach is verified by both simulation and experiment. © 1992.