A Filter Design Method for Robot Tip Velocity Derivation

摘要

High performance robot control sometimes requires direct velocity measurement at the end effector as well as at the joint. However, to date, sensing devices are still not readily available for tip velocity measurement on most industiral manipulators and one often has to rely on approximations to derive this velocity. The limitations of these approximations are analyzed in this paper. In order to overcome these limitations and derive the robot tip velocity, end point acceleration measurement is imployed and a complementary filtering technique is adopted. The filter design approach is described with some implementation results given.