A FILTER DESIGN METHOD FOR ROBOT TIP VELOCITY DERIVATION

High performance robot control sometimes requires direct velocity meas urement at the end effector as well as at the joint. However, to date, sensing devices are still not readily available for tip velocity meas urement on most industrial manipulators and one often has to rely on a pproximations to derive this velocity. The limitations of these approx imations are analyzed in this paper. In order to overcome these limita tions and derive the robot tip velocity, end point acceleration measur ement is employed and a complementary filtering technique is adopted. The filter design approach is described with some implementation resul ts given.