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Extended Kalman Filter Applied to Industrial Manipulators
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.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2010 (English)In: Proceedings of Reglermöte 2010, 2010Conference paper, Published paper (Other academic)
Abstract [en]

This paper summarizes previous work on tool position estimation on industrial manipulators, and emphasize the problems that must be taken care of in order to get a satisfied result. The acceleration of the robot tool, measured by an accelerometer, together with measurements of motor angles are used. The states are estimated with an extended Kalman filter. A method for tuning the covariance matrices for the noise, used in the observer, is suggested. The work has been focused on a robot with two degrees of freedom.

Place, publisher, year, edition, pages
2010.
Keyword [en]
Extended Kalman Filter, Industrial manipulator, Accelerometer
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-88981OAI: oai:DiVA.org:liu-88981DiVA: diva2:606591
Conference
Reglermötet 2010, Lund, Sweden, 8-9 June, 2010
Projects
Vinnova Excellence Center LINK-SIC at Linkoping University, Sweden
Available from: 2013-02-19 Created: 2013-02-19 Last updated: 2013-07-09

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Axelsson, PatrikNorrlöf, MikaelWernholt, ErikGustafsson, Fredrik

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CiteExportLink to record
Permanent link

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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