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Industrial Robot Tool Position Estimation using Inertial Measurements in a Complementary Filter and an EKF
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0003-2106-2457
ABB Robotics.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering. ABB Robotics.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
2017 (English)Conference paper, Poster (Refereed)
Abstract [en]

 In this work an Inertial Measurement Unit is used to improve tool position estimates for an ABB IRB 4600 industrial robot, starting from estimates based on motor angle forward kinematics. A Complementary Filter and an Extended Kalman Filter are investigated. The Complementary Filter is found to perform on par with the Extended Kalman Filter while having lower complexity both in the tuning process and the filtering computations.

Place, publisher, year, edition, pages
2017.
Keyword [en]
Inertial measurement units, Position estimation, Industrial robots, Complementary filters, Extended Kalman filters
National Category
Robotics
Identifiers
URN: urn:nbn:se:liu:diva-139930OAI: oai:DiVA.org:liu-139930DiVA: diva2:1134989
Conference
IFAC World Congress 2017, 9-14 July, Toulouse, France.
Projects
LINK-SIC
Available from: 2017-08-22 Created: 2017-08-22 Last updated: 2017-09-14Bibliographically approved

Open Access in DiVA

The full text will be freely available from 2017-10-15 14:12
Available from 2017-10-15 14:12

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Hedberg, ErikNorrlöf, MikaelGunnarsson, Svante
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CiteExportLink to record
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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
More languages
Output format
  • html
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  • asciidoc
  • rtf