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Mass Estimation for Manipulators using Sliding Mode Observer

version 1.0 (11 MB) by Marco Antonio Negrete Villanueva
Files for the project "Object Recognition by Physical Properties Detection using Fault Reconstruction Techniques"


Updated 21 Oct 2020

From GitHub

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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 ( and Justina's left arm (a robot developed in the Biorobotics Laboratory, UNAM For technical details, please refer to

Cite As

Marco Antonio Negrete Villanueva (2021). Mass Estimation for Manipulators using Sliding Mode Observer (, GitHub. Retrieved .

Comments and Ratings (2)

Veer Alakshendra

MATLAB Release Compatibility
Created with R2020a
Compatible with R2020a and later releases
Platform Compatibility
Windows macOS Linux

Inspired by: Designing Robot Manipulator Algorithms

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