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Tool Position Estimation of a Flexible Industrial Robot using Recursive Bayesian Methods
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.
2012 (English)In: Proceedings of the 2012 IEEE International Conference on Robotics and Automation, 2012, 5234-5239 p.Conference paper, Published paper (Refereed)
Abstract [en]

A sensor fusion method for state estimation of a flexible industrial robot is presented. By measuring the acceleration at the end-effector, the accuracy of the arm angular position is improved significantly when these measurements are fused with motor angle observation. The problem is formulated in a Bayesian estimation framework and two solutions are proposed; one using the extended Kalman filter (EKF) and one using the particle filter (PF). The technique is verified on experiments on the ABB IRB4600 robot, where the accelerometer method is showing a significant better dynamic performance, even when model errors are present.

Place, publisher, year, edition, pages
2012. 5234-5239 p.
Keyword [en]
Bayes methods, Kalman filters, Flexible manipulators, Position control, State estimation
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-87587DOI: 10.1109/ICRA.2012.6224625ISI: 000309406705041ISBN: 978-1-4673-1403-9 (print)ISBN: 978-1-4673-1404-6 (print)OAI: oai:DiVA.org:liu-87587DiVA: diva2:589538
Conference
2012 IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA, 14-18 May, 2012
Projects
LINK-SIC
Funder
VinnovaSwedish Foundation for Strategic Research
Available from: 2013-01-18 Created: 2013-01-18 Last updated: 2013-07-10Bibliographically approved

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Axelsson, PatrikKarlsson, RickardNorrlöf, Mikael

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
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  • nn-NB
  • sv-SE
  • Other locale
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Output format
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