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A Velocity Estimator relying on Friction Observers: Application to inverted pendulum stabilization

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Author

Summary, in English

This paper addresses the problem of velocity reconstruction of robotic systems with rigid-body dynamics subject to friction. The aim of this paper is to estimate the velocities in the joint of a robot as well as the friction interacting with these velocities. Confronted with friction phenomena interacting with velocity dynamics, we have developed a non-linear observer, partly model-based for estimation of velocity and compensation of friction.

Publishing year

2007

Language

English

Publication/Series

Preprints 7th IFAC Symp. Nonlinear Control Systems (NOLCOS 2007)

Document type

Conference paper

Topic

  • Control Engineering

Keywords

  • friction compensation
  • velocity reconstruction
  • robotic systems
  • nonlinear observer

Conference name

7th IFAC Symposium on Nonlinear Control Systems, 2007

Conference date

2007-08-22 - 2007-08-24

Conference place

Pretoria, South Africa

Status

Published

Project

  • Robotics Lab LTH