liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Bayesian Position Estimation of an Industrial Robot using Multiple Sensors
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 modern industrial robot control system is often only based upon measurements from the motors of the manipulator. To perform good tra-ectory tracking on the arm side of the robot a very accurate description of the system must therefore be used. In the paper a sensor fusion technique is presented to achieve good estimates of the position of the robotusing a very simple model. By using information from an accelerometer at the tool of the robot the effect of unmodelled dynamics can be measured. The estimate of the tool position can be improved to enhance accuracy. We formulate the computation of the position as a Bayesian estimation problem and propose two solutions. The first solution uses the extended Kalman fillter (EKF) as a fast but linearized estimator. The second uses the particle fillter which can solve the Bayesian estimation problem without linearizations or any Gaussian noise assumptions. Since the aim is to use the positions estimates to improve position with an iterative learning control method, no computational constraints arise. The methods are applied to experimental data from an ABB IRB1400 commercial industrialrobot and to data from a simulation of a realistic flexible robot model, showing a significant improvement in position accuracy.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2004. , 9 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2613
Keyword [en]
Extended Kalman filter, Particle filter, Robotics, Accelerometer
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-55990ISRN: LiTH-ISY-R-2613OAI: diva2:316746
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-08-13Bibliographically approved

Open Access in DiVA

fulltext(460 kB)116 downloads
File information
File name FULLTEXT01.pdfFile size 460 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Karlsson, RickardNorrlöf, Mikael
By organisation
Automatic ControlThe Institute of Technology
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 116 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 49 hits
ReferencesLink to record
Permanent link

Direct link