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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Actualizado 21 oct 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.

Citar como

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. Recuperado .

Compatibilidad con la versión de MATLAB
Se creó con R2020a
Compatible con cualquier versión desde R2020a
Compatibilidad con las plataformas
Windows macOS Linux
Agradecimientos

Inspirado por: Designing Robot Manipulator Algorithms

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Versión Publicado Notas de la versión
1.0

Para consultar o notificar algún problema sobre este complemento de GitHub, visite el repositorio de GitHub.
Para consultar o notificar algún problema sobre este complemento de GitHub, visite el repositorio de GitHub.