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Experimental Comparison of Observers for Tool Position Estimation of Industrial Robots
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
McKinsey & Company, Sweden.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
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2009 (English)In: Proceedings of the 48th IEEE Conference on Decision and Control, 2009, 8065-8070 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Keyword [en]
Kalman filters, Angular measurement, Industrial robots, Nonlinear filters
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-50662DOI: 10.1109/CDC.2009.5400313ISBN: 978-1-4244-3872-3 (print)ISBN: 978-1-4244-3871-6 (print)OAI: oai:DiVA.org:liu-50662DiVA: diva2:271847
Conference
48th IEEE Conference on Decision and Control, Shanghai, China, December, 2009
Projects
CADICS
Available from: 2009-10-13 Created: 2009-10-13 Last updated: 2013-07-06

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Norrlöf, MikaelMoberg, StigWernholt, ErikSchön, Thomas

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Citation style
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  • de-DE
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  • en-US
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  • nn-NB
  • sv-SE
  • Other locale
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Output format
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