Experimental Comparison of Observers for Tool Position Estimation of Industrial Robots
2009 (English)In: Proceedings of the 48th IEEE Conference on Decision and Control, 2009, 8065-8070 p.Conference paper (Refereed)
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.
Place, publisher, year, edition, pages
2009. 8065-8070 p.
Kalman filters, Angular measurement, Industrial robots, Nonlinear filters
IdentifiersURN: urn:nbn:se:liu:diva-50662DOI: 10.1109/CDC.2009.5400313ISBN: 978-1-4244-3872-3ISBN: 978-1-4244-3871-6OAI: oai:DiVA.org:liu-50662DiVA: diva2:271847
48th IEEE Conference on Decision and Control, Shanghai, China, December, 2009