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Experimental Comparison of Observers for Tool Position Estimation of Industrial Robots
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.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
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2009 (English)Report (Other academic)
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
Linköping: Linköping University Electronic Press, 2009. , 9 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2911
Keyword [en]
Kalman filters, Angular measurement, Industrial robots, Nonlinear filters
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56206ISRN: LiTH-ISY-R-2911OAI: oai:DiVA.org:liu-56206DiVA: diva2:317005
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-01Bibliographically approved

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Norrlöf, MikaelMoberg, StigWernholt, ErikSchön, Thomas

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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