ICRA 2015Poster
Encoderless position control of a two-link robot manipulator
Authors: Petar Kormushev, Yiannis Demiris, Darwin G. Caldwell
Abstract
Encoders have been an inseparable part of robots since the very beginning of modern robotics in the 1950s. As a result, the foundations of robot control are built on the concepts of kinematics and dynamics of articulated rigid bodies, which rely on explicitly measuring the robot configuration in terms of joint angles - done by encoders.