Estimation of orientation and position of an accelerometer mounted to an industrial manipulator [Elektronisk resurs] / Patrik Axelsson, Mikael Norrlöf
Axelsson, Patrik(författare)
Norrlöf, Mikael, 1971- (författare)
Alternativt namn: Norrlöf, Using iterative learning control to get better performance of robot control systems / Mikael Norrlöf,Svante Gunnarsson Place : Publisher,, 1971-
Linköpings universitet. Institutionen för systemteknik (utgivare)
Alternativt namn: ISY
Alternativt namn: Engelska: Linköping University. Department of Electrical Engineering
Linköping : Department of Electrical Engineering, Linköpings universitet, 2012
Engelska 13 s.
Serie: LiTH-ISY-R, 1400-3902 ; 2995
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A method to find the orientation and position of a three degree-of-freedom (DOF) accelerometer mounted on a six DOF 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 using 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.