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Method to Estimate the Position and Orientation of a Triaxial 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 novel method to find the orientation and position of a triaxial accelerometer mounted on a six degrees-of-freedom 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 accelerometer from static experiments. In the second step the accelerometer position relative to the robot base is identified using accelerometer readings when the accelerometer moves in a circular path and where the accelerometer orientation is kept constant in a path fixed coordinate system. Once the accelerometer position and orientation are identified it is possible to use the accelerometer in robot model parameter identification and in advanced control solutions. Compared to previous methods, the accelerometer position estimation is completely new, whereas the orientation is found using an analytical solution to the optimisation problem. Previous methods use a parameterisation where the optimisation uses an iterative solver.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2011. , 7 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 3025
Keyword [en]
Accelerometer, Calibration, Estimation, Industrial robots
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-88973ISRN: LiTH-ISY-R-3025OAI: oai:DiVA.org:liu-88973DiVA: diva2:606580
Projects
LINK-SIC
Funder
Vinnova
Available from: 2013-02-19 Created: 2013-02-19 Last updated: 2014-06-18Bibliographically approved

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Axelsson, PatrikNorrlöf, Mikael

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