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Force Estimation and Control in Vehicles and Robots

Alcocer Peñas, Alex (2002) In MSc Theses
Department of Automatic Control
Abstract
In this master thesis, it will be shown howto estimate the unknown environmental forces acting on different vehicular and robotic systems. As force sensors are expensive, complex and not suitable to operate in hazardous environments, we present an approach to force estimation using model based observers. Only position measurements are assumed to be available and it will be shown how to use this force estimation to build an improved velocity observer. A force estimator able to follow ramp environmental forces is also introduced. We will pay special attention to stability issues and noise considerations. Simulations will be done using Matlab and Simulink. A parameter identification and force estimation experiment will be done using an... (More)
In this master thesis, it will be shown howto estimate the unknown environmental forces acting on different vehicular and robotic systems. As force sensors are expensive, complex and not suitable to operate in hazardous environments, we present an approach to force estimation using model based observers. Only position measurements are assumed to be available and it will be shown how to use this force estimation to build an improved velocity observer. A force estimator able to follow ramp environmental forces is also introduced. We will pay special attention to stability issues and noise considerations. Simulations will be done using Matlab and Simulink. A parameter identification and force estimation experiment will be done using an industrial robot ABB irb2000. (Less)
Please use this url to cite or link to this publication:
author
Alcocer Peñas, Alex
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5693
ISSN
0280-5316
language
English
id
8848187
date added to LUP
2016-03-19 17:49:04
date last changed
2016-03-19 17:49:04
@misc{8848187,
  abstract     = {{In this master thesis, it will be shown howto estimate the unknown environmental forces acting on different vehicular and robotic systems. As force sensors are expensive, complex and not suitable to operate in hazardous environments, we present an approach to force estimation using model based observers. Only position measurements are assumed to be available and it will be shown how to use this force estimation to build an improved velocity observer. A force estimator able to follow ramp environmental forces is also introduced. We will pay special attention to stability issues and noise considerations. Simulations will be done using Matlab and Simulink. A parameter identification and force estimation experiment will be done using an industrial robot ABB irb2000.}},
  author       = {{Alcocer Peñas, Alex}},
  issn         = {{0280-5316}},
  language     = {{eng}},
  note         = {{Student Paper}},
  series       = {{MSc Theses}},
  title        = {{Force Estimation and Control in Vehicles and Robots}},
  year         = {{2002}},
}