Robot Tip Velocity Measurement For Direct End Effecter Position Control

Proximity sensing and direct robot end effector position feedback are essential for real time sensor based control to enhance the perfor- mance of robot systems. The true values of the robot end velocity play a very important role in this task. Existing methods dealing with the prob- lem, however, are not valid or feasible under cer- tain conditions. A new measurement and filtering technique is proposed to derive the end velocity more reliably for a robot with highly uncertain vi- brational modes. The effectiveness of the approach is verified by both simulation and experiment.

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