Evaluation of Six Different Sensor Fusion Methods for an Industrial Robot using Experimental Data
2012 (English)In: Proceedings of the 10th IFAC Symposium on Robot Control, 2012, 126-132 p.Conference paper (Refereed)
Experimental evaluations for path estimation are performed on an ABB IRB4600 robot. Different observers using Bayesian techniques with different estimation models are proposed. The estimated paths are compared to the true path measured by a laser tracking system. There is no significant difference in performance between the six observers. Instead, execution time, model complexities and implementation issues have to be considered when choosing the method.
Place, publisher, year, edition, pages
2012. 126-132 p.
Estimation, Extended Kalman filter, Particle filter, Accelerometer, Industrial robots
IdentifiersURN: urn:nbn:se:liu:diva-81456DOI: 10.3182/20120905-3-HR-2030.00003OAI: oai:DiVA.org:liu-81456DiVA: diva2:552576
10th IFAC Symposium on Robot Control, Dubrovnik, Croatia, 5-7 September 2012
ProjectsVinnova Excellence Center LINK-SIC