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Evaluation of Six Different Sensor Fusion Methods for an Industrial Robot using Experimental Data
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2011 (English)Report (Other academic)
Abstract [en]

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
Linköping: Linköping University Electronic Press, 2011. , 7 p.
LiTH-ISY-R, ISSN 1400-3902 ; 3035
Keyword [en]
Estimation, Extended Kalman filter, Particle filter, Accelerometer, Industrial robots
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-88977ISRN: LiTH-ISY-R-3035OAI: diva2:606583
Vinnova Excellence Center LINK-SIC
Available from: 2013-02-19 Created: 2013-02-19 Last updated: 2014-06-17Bibliographically approved

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Axelsson, Patrik
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Automatic ControlThe Institute of Technology
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