Robot Tip Velocity Measurement for Direct End Effecter Position Control

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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Author(s)

Detail(s)

Original languageEnglish
Title of host publicationProceedings of the1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers, Inc.
Pages998-1003
Volume2
ISBN (print)0780307372
Publication statusPublished - Jul 1992
Externally publishedYes

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2
ISSN (Print)2153-0858
ISSN (electronic)2153-0866

Conference

Title1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
PlaceUnited States
CityRaleigh
Period7 - 10 July 1992

Link(s)

DOI

DOI
Check@CityULib
Link to Scopus https://www.scopus.com/record/display.uri?eid=2-s2.0-0007857891&origin=recordpage
Permanent Link https://scholars.cityu.edu.hk/en/publications/publication(fd420805-6505-4de6-9ad5-f8787ca2c28e).html

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.

Research Area(s)

  • Velocity measurement, Position control, Robot sensing systems, End effectors, Robot kinematics, Feedback, Real time systems, Sensor systems, Control systems, Filtering algorithms

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Publication fingerprints text

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control INIS
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velocity INIS
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robots INIS
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Filter Method Keyphrases
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Measurement Techniq... Keyphrases
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Position Control Keyphrases
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End-effector Positi... Keyphrases
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Tip Velocity Keyphrases
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Sensor-based Contro... Keyphrases
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Real-time Sensor Keyphrases
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Citation Format(s)

[ RIS ] [ BibTeX ]
Robot Tip Velocity Measurement for Direct End Effecter Position Control. / Li, Y. F.; Daniel, R. W.
Proceedings of the1992 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2 Institute of Electrical and Electronics Engineers, Inc., 1992. p. 998-1003 594513 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review