Velocity estimation by using imperfect accelerometer and encoder for rigid contact modeling and control

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 4234-4239

  Zhu, Wen Hong ^a   Lamarche, Tom ^a  

^a CANADIAN SPACE AGENCY   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ACCELEROMETERS; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); LOW PASS FILTERS; ROBOT APPLICATIONS;

ACCELEROMETER SIGNALS; RIGID CONTACT MODELING; VELOCITY ESTIMATION;

VELOCITY MEASUREMENT;

EID: 33845644173     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1642353     Document Type: Conference Paper

References (8)

1. Y. Gonthier, J. McPhee, C. Lange, and J.-C. Piedboeuf, "A regularized contact model with asymmetric damping and dwell-time dependent friction." Multibody System Dynamics, vol. 11, no. 3, pp. 209-233, April 2004.
2. C. Lange and Y. Gonthier, "Experimental contact parameter estimation using a 6-DOF robot." In: Proceedings of the 15th CISM-IFToMM Symposium on Robotics Design, Dynamics and Control (Romansy 2004), Montreal, Canada, June 2004.
3. W.-H. Zhu and J. De Schutter, "Adaptive control of mixed rigid/flexible joint root manipulators based on virtual decomposition," IEEE Trans. Robotics and Automation, vol. 15, no. 2, pp.310-317, 1999.
4. G. Tao, "A simple alternative to the Barbǎlat lemma," IEEE Trans. Automatic Control, vol. 42, no. 5, p. 698, 1997.
5. W. H. Zhu and J. De Schutter, "Control of two industrial manipulators rigidly holding an egg," IEEE Control Systems Magazine, vol. 19, no. 2, pp.24-30, 1999.
6. W. H. Zhu and J. De Schutter, "Experimental verifications of virtual decomposition based motion/force control," IEEE Trans. Robotics and Automation, vol. 18, no. 3, pp. 379-386, 2002.
7. P. R. Pagilla, "Control of contact problem in constrained Euler-Lagrange systems," IEEE Trans. Automatic Control, vol. 46, no. 10, pp. 1595-1599, 2001.
8. JR3 Inc. Sensors with Acceleration Compensation, http://www.jr3.com/ 12dof.html.