Mass Estimation for Manipulators using Sliding Mode Observer

Files for the project "Object Recognition by Physical Properties Detection using Fault Reconstruction Techniques"

161.0 次下载

更新时间 2020/10/21

来自 GitHub

在 GitHub 上查看许可证

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.

引用格式

Marco Antonio Negrete Villanueva (2023). Mass Estimation for Manipulators using Sliding Mode Observer (https://github.com/RobotJustina/RCF-MathWorks-2020-14/releases/tag/1.0), GitHub. 检索来源 .

MATLAB 版本兼容性
创建方式 R2020a
与 R2020a 及更高版本兼容
平台兼容性
Windows macOS Linux

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!
版本 已发布 发行说明
1.0

要查看或报告此来自 GitHub 的附加功能中的问题,请访问其 GitHub 仓库
要查看或报告此来自 GitHub 的附加功能中的问题,请访问其 GitHub 仓库