Conference Proceedings

First International Conference on Advances in Computer, Electronics and Electrical Engineering - CEEE 2012

Reduced Order Observer based State Feedback Design of a Practical Excavator Arm Attached to a Crane(2 DOF)

Author(s) : GOURHARI DAS, PARIJAT BHOWMICK, SANJAY BHADRA

Abstract

A nonlinear robot plant that incorporates robot manipulator dynamics as well as implementation of observer to estimate unmeasured states is proposed in this paper. The robot manipulator operates in the robot task space in lifting the object at a defined place and at a specified angle. Computer simulations are performed to verify feasibility of robot manipulator along with the implemented observer. The experiments show that the proposed work produces good tracking performances in estimating the states yielding conspicuously improved performance. Computationally this method is very elegant.

Conference Title : First International Conference on Advances in Computer, Electronics and Electrical Engineering - CEEE 2012
Conference Date(s) : March 25-26-27, 2012
Place : Hotel Vits, Mumbai, India
No fo Author(s) : 3
DOI : 10.15224/978-981-07-1847-3-623
Page(s) : 149 - 153
Electronic ISBN : 978-981-07-1847-3
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