Tool position estimation of a flexible industrial robot using recursive bayesian methods [Elektronisk resurs] / Patrik Axelsson, Rickard Karlsson, Mikael Norrlöf
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Axelsson, Patrik (författare)
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Karlsson, Rickard (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 6 s.
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Serie: LiTH-ISY-R, 1400-3902 ; 3024
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Läs hela texten (Sammanfattning och fulltext från Linköping University Electronic Press)
Sammanfattning
Ämnesord
Stäng
- A sensor fusion method for state estimation of a flexible industrial robot is presented. By measuring the acceleration at the end-effector, the accuracy of the arm angular position is improved significantly when these measurements are fused with motor angle observation. The problem is formulated in a Bayesian estimation framework and two solutions are proposed; one using the extended Kalman filter (EKF) and one using the particle filter (PF). The technique is verified on experiments on the ABB IRB4600 robot, where the accelerometer method is showing a significant better dynamic performance, even when model errors are present.
Ämnesord
- Reglerteknik (sao)
- Automatic control (LCSH)
Indexterm och SAB-rubrik
- Estimation
- Extended Kalman Filter
- Particle Filter
- Accelerometer
- Industrial Robot
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