Experimental comparison of observers for tool position estimation of industrial robots [Elektronisk resurs] / Mikael Norrlöf, Robert Henriksson, Stig Moberg, Erik Wernholt, Thomas Schön.
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- Norrlöf, Mikael, 1971-
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Alternativt namn: Norrlöf, Using iterative learning control to get better performance of robot control systems / Mikael Norrlöf, 1971-
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Henriksson, Robert
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Moberg, Stig, 1962-
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Wernholt, Erik, 1975-
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- Schön, Thomas, 1977-
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Alternativt namn: Schön, Thomas B., 1977-
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- Linköpings universitet. Institutionen för systemteknik (utgivare)
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Alternativt namn: Engelska: Linköping University. Department of Electrical Engineering
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Alternativt namn: ISY
- Publicerad: Linköping : Linköping University Electronic Press, 2009
- Engelska 9 s.
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Serie: LiTH-ISY-R, 1400-3902 ; 2911
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Läs hela texten (Sammanfattning och fulltext från Linköping University Electronic Press)
Sammanfattning
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- This paper investigates methods for tool position estimation of industrial robots. It is assumed that the motor angular position and the tool acceleration are measured. The considered observers are different versions of the extended Kalman filter as well as a deterministic observer. A method for tuning the observers is suggested and the robustness of the methods is investigated. The observers are evaluated experimentally on a commercial industrial robot.
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- Kalman filters
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