@inproceedings{fd42080565054de69ad5f8787ca2c28e,
title = "Robot Tip Velocity Measurement for Direct End Effecter Position Control",
abstract = "Proximity sensing and direct robot end effector position feedback are essential for real time sensor based control to enhance the performance of robot systems. The true values of the robot end velocity play a very important role in this task. Existing methods dealing with the problem, however, are not valid or feasible under certain conditions. A new measurement and filtering technique is proposed 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.",
keywords = "Velocity measurement, Position control, Robot sensing systems, End effectors, Robot kinematics, Feedback, Real time systems, Sensor systems, Control systems, Filtering algorithms",
author = "Li, {Y. F.} and Daniel, {R. W.}",
year = "1992",
month = jul,
doi = "10.1109/IROS.1992.594513",
language = "English",
isbn = "0780307372",
volume = "2",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "IEEE",
pages = "998--1003",
booktitle = "Proceedings of the1992 IEEE/RSJ International Conference on Intelligent Robots and Systems",
address = "United States",
note = "1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 ; Conference date: 07-07-1992 Through 10-07-1992",
}