Experimental comparison of observers for tool position estimation of industrial robots

Experimental comparison of observers for tool position estimation of industrial robots

This paper investigates methods for tool position estimation of industrial robots. It is assumed that the motor angular position and the tool acceleration are measured. The considered observers are different versions of the extended Kalman filter as well as a deterministic observer. A method for tun...

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Hauptverfasser: Henriksson, R., Norrlof, M., Moberg, S., Wernholt, E., Schon, T.B.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Acceleration
Accelerometers
Angular measurement
Cost function
Electrical engineering
Electrical engineering, electronics and photonics
Elektroteknik
Elektroteknik, elektronik och fotonik
Frequency estimation
Gravity
Industrial robots
Kalman filters
Nonlinear filters
Position measurement
Robot kinematics
Robot sensing systems
Robustness
Service robots
TECHNOLOGY
TEKNIKVETENSKAP
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Beschreibung
Zusammenfassung:This paper investigates methods for tool position estimation of industrial robots. It is assumed that the motor angular position and the tool acceleration are measured. The considered observers are different versions of the extended Kalman filter as well as a deterministic observer. A method for tuning the observers is suggested and the robustness of the methods is investigated. The observers are evaluated experimentally on a commercial industrial robot.
ISSN:0191-2216
DOI:10.1109/CDC.2009.5400313