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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