Extended Kalman Filter Applied to Industrial Manipulators
2010 (English)In: Proceedings of Reglermöte 2010, 2010Conference paper (Other academic)
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
Extended Kalman Filter, Industrial manipulator, Accelerometer
IdentifiersURN: urn:nbn:se:liu:diva-88981OAI: oai:DiVA.org:liu-88981DiVA: diva2:606591
Reglermötet 2010, Lund, Sweden, 8-9 June, 2010
ProjectsVinnova Excellence Center LINK-SIC at Linkoping University, Sweden