Method to estimate the position and orientation of a triaxial accelerometer mounted to an industrial manipulator [Elektronisk resurs] / Patrik Axelsson, Mikael Norrlöf
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Axelsson, Patrik (författare)
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- Norrlöf, Mikael, 1971- (författare)
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Alternativt namn: Norrlöf, Using iterative learning control to get better performance of robot control systems / Mikael Norrlöf,Svante Gunnarsson Place : Publisher,, 1971-
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- Linköpings universitet. Institutionen för systemteknik (utgivare)
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Alternativt namn: ISY
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Alternativt namn: Engelska: Linköping University. Department of Electrical Engineering
- Linköping : Department of Electrical Engineering, Linköpings universitet, 2011
- Engelska 7 s.
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Serie: LiTH-ISY-R, 1400-3902 ; 3025
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Läs hela texten (Sammanfattning och fulltext från Linköping University Electronic Press)
Sammanfattning
Ämnesord
Stäng
- 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 sensor 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. Compared to previous methods, the sensor 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.
Ämnesord
- Reglerteknik (sao)
- Automatic control (LCSH)
Indexterm och SAB-rubrik
- Robotics
- Accelerometer
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