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Position Estimation and Modeling of a Flexible Industrial Robot
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.
2004 (English)Report (Other academic)
Abstract [en]

A sensor fusion technique is presented and it is shown to achieve good estimates of the position for a 3 degrees-of-freedom industrial robot model. By using an accelerometer the estimate of the tool position accuracy can be improved. The computation of the position is formulated as a Bayesian estimation problem and two solutions are proposed. One using the extended Kalman filter and one using the particle filter. Since the aim is to use the positions estimates to improve trajectory tracking with an iterative learning control method, no computational constraints arise. In an extensive simulation study the performance is compared to the Cramér-Rao lower bound. A significant improvement in position accuracy is achieved using the sensor fusion technique.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2004. , 9 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2629
Keyword [en]
Industrial robots, Estimation, Extended Kalman filter, Estimation algorithms
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55998ISRN: LiTH-ISY-R-2629OAI: oai:DiVA.org:liu-55998DiVA: diva2:316737
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-08-13Bibliographically approved

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Karlsson, RickardNorrlöf, Mikael

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf