A globally convergent observer for velocity estimation in robotic manipulators with uncertain dynamics
We present a method for global estimation of joint velocities in robot manipulators. A non-minimal model of a robotic manipulator is used to design an adaptive observer capable of handling uncertainties in robot dynamics. Dimension of the proposed observer is shown to be at least 3n where n stands f...
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| creator | Lotfi, Nima Namvar, Mehrzad |
| description | We present a method for global estimation of joint velocities in robot manipulators. A non-minimal model of a robotic manipulator is used to design an adaptive observer capable of handling uncertainties in robot dynamics. Dimension of the proposed observer is shown to be at least 3n where n stands for the manipulator degrees of freedom. This number is less than the dimension of most of existing globally convergent adaptive observers. Global asymptotic convergence of system state estimates to their true values is achieved under no persistency of excitation condition. Smoothness of the dynamics of the proposed observer allows its easy implementation in comparison with non-smooth observers. Simulation results illustrate low noise sensitivity of the proposed observer in comparison with non-smooth observers. |
| doi_str_mv | 10.1109/ROBOT.2010.5509237 |
| format | Conference Proceeding |
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A non-minimal model of a robotic manipulator is used to design an adaptive observer capable of handling uncertainties in robot dynamics. Dimension of the proposed observer is shown to be at least 3n where n stands for the manipulator degrees of freedom. This number is less than the dimension of most of existing globally convergent adaptive observers. Global asymptotic convergence of system state estimates to their true values is achieved under no persistency of excitation condition. Smoothness of the dynamics of the proposed observer allows its easy implementation in comparison with non-smooth observers. Simulation results illustrate low noise sensitivity of the proposed observer in comparison with non-smooth observers.</description><subject>Convergence</subject><subject>Filters</subject><subject>Manipulator dynamics</subject><subject>Mechanical sensors</subject><subject>Observers</subject><subject>Robot sensing systems</subject><subject>Robotics and automation</subject><subject>Service robots</subject><subject>State estimation</subject><subject>Uncertainty</subject><issn>1050-4729</issn><issn>2577-087X</issn><isbn>9781424450381</isbn><isbn>1424450381</isbn><isbn>1424450403</isbn><isbn>9781424450404</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2010</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotkMlqwzAYhNUNmqR5gfaiF3D6a7PsYxq6QcBQUugtSLKUqjhWkJQUv30NzWn4mGEYBqF7AgtCoH78aJ6azYLCyEJATZm8QFPCKecCOLBLNKFCygIq-XWF5rWszh6ryDWaEBBQcEnrWzRN6QcAGCvLCXJLvOuCVl03YBP6k40722ccdLJxBOxCxCfbBePzgG3Kfq-yDz32PY5Bh-wN3qveH46dyiEm_OvzNz72xsasxkw79GrvTbpDN051yc7POkOfL8-b1Vuxbl7fV8t14YkUudDSsdZqLgQnpmZSlpoY1TrSCke1KJkCJzQzYKnUggvOK11xSqisTWsVYzP08N_rrbXbQxznxmF7_ov9AW21XYs</recordid><startdate>201005</startdate><enddate>201005</enddate><creator>Lotfi, Nima</creator><creator>Namvar, Mehrzad</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>201005</creationdate><title>A globally convergent observer for velocity estimation in robotic manipulators with uncertain dynamics</title><author>Lotfi, Nima ; Namvar, Mehrzad</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-b7f3deb45541c93776b1cadf1d5f2b563a0f5b3c0e27b545448b8421279cdea33</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2010</creationdate><topic>Convergence</topic><topic>Filters</topic><topic>Manipulator dynamics</topic><topic>Mechanical sensors</topic><topic>Observers</topic><topic>Robot sensing systems</topic><topic>Robotics and automation</topic><topic>Service robots</topic><topic>State estimation</topic><topic>Uncertainty</topic><toplevel>online_resources</toplevel><creatorcontrib>Lotfi, Nima</creatorcontrib><creatorcontrib>Namvar, Mehrzad</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Lotfi, Nima</au><au>Namvar, Mehrzad</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>A globally convergent observer for velocity estimation in robotic manipulators with uncertain dynamics</atitle><btitle>2010 IEEE International Conference on Robotics and Automation</btitle><stitle>ROBOT</stitle><date>2010-05</date><risdate>2010</risdate><spage>4645</spage><epage>4650</epage><pages>4645-4650</pages><issn>1050-4729</issn><eissn>2577-087X</eissn><isbn>9781424450381</isbn><isbn>1424450381</isbn><eisbn>1424450403</eisbn><eisbn>9781424450404</eisbn><abstract>We present a method for global estimation of joint velocities in robot manipulators. A non-minimal model of a robotic manipulator is used to design an adaptive observer capable of handling uncertainties in robot dynamics. Dimension of the proposed observer is shown to be at least 3n where n stands for the manipulator degrees of freedom. This number is less than the dimension of most of existing globally convergent adaptive observers. Global asymptotic convergence of system state estimates to their true values is achieved under no persistency of excitation condition. Smoothness of the dynamics of the proposed observer allows its easy implementation in comparison with non-smooth observers. Simulation results illustrate low noise sensitivity of the proposed observer in comparison with non-smooth observers.</abstract><pub>IEEE</pub><doi>10.1109/ROBOT.2010.5509237</doi><tpages>6</tpages></addata></record> |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Convergence Filters Manipulator dynamics Mechanical sensors Observers Robot sensing systems Robotics and automation Service robots State estimation Uncertainty |
| title | A globally convergent observer for velocity estimation in robotic manipulators with uncertain dynamics |
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