Mass Estimation for Manipulators using Sliding Mode Observer

Files for the project "Object Recognition by Physical Properties Detection using Fault Reconstruction Techniques"
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Aktualisiert 21 Okt 2020

This project is developed in the context of the Robocup@Home competition. We propose to estimate the mass of a grasped object using fault reconstruction techniques. Considering the weight of the object as a disturbance causing a faulty behavior, such weight can be estimated using an Sliding Mode Observer. The estimation of the grasped object mass can be used to improve manipulation tasks when visual information is not enough to correctly identify an object (e.g., an empty and a full can). The overall system was designed and tested using Simulink Toolboxes and this repository contains the files and instructions to reproduce the results obtained using two different manipulators: Katana (https://github.com/uos/katana_driver) and Justina's left arm (a robot developed in the Biorobotics Laboratory, UNAM https://biorobotics.fi-p.unam.mx/). For technical details, please refer to http://arxiv.org/abs/2010.06116.

Zitieren als

Marco Antonio Negrete Villanueva (2024). Mass Estimation for Manipulators using Sliding Mode Observer (https://github.com/RobotJustina/RCF-MathWorks-2020-14/releases/tag/1.0), GitHub. Abgerufen .

Kompatibilität der MATLAB-Version
Erstellt mit R2020a
Kompatibel mit R2020a und späteren Versionen
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Inspiriert von: Designing Robot Manipulator Algorithms

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Version Veröffentlicht Versionshinweise
1.0

Um Probleme in diesem GitHub Add-On anzuzeigen oder zu melden, besuchen Sie das GitHub Repository.
Um Probleme in diesem GitHub Add-On anzuzeigen oder zu melden, besuchen Sie das GitHub Repository.