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Estimation of Orientation and Position of an Accelerometer Mounted to an Industrial Manipulator
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.
2011 (English)Report (Other academic)
Abstract [en]

A method to find the orientation and position of a three degree-of-freedom (DOF) accelerometer mounted on a six DOF industrial robot is proposed and evaluated on experimental data. The method consists of two consecutive steps, where the first is to estimate the orientation of the sensor using data from static experiments. In the second step the sensor position relative to the robot base is identified using sensor readings when the sensor moves in a circular path and where the sensor orientation is kept constant in a path fixed coordinate system.  Once the accelerometer position and orientation are identified it is possible to use the sensor in robot model parameter identification and in advanced control solutions.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2011. , 6 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2995
Keyword [en]
Robotics, Accelerometer, Estimation
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-88969ISRN: LiTH-ISY-R-2995OAI: oai:DiVA.org:liu-88969DiVA: diva2:606571
Projects
Vinnova Excellence Center LINK-SIC
Available from: 2013-02-19 Created: 2013-02-19 Last updated: 2014-06-18Bibliographically approved

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Estimation of Orientation and Position of an Accelerometer Mounted to an Industrial Manipulator(780 kB)176 downloads
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Axelsson, PatrikNorrlöf, Mikael

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
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  • modern-language-association-8th-edition
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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  • asciidoc
  • rtf