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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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record:Alt_name_t: 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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record:Alt_name_t: Schön, Thomas B., 1977-
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- Linköpings universitet. Institutionen för systemteknik (creator_code:pbl_t)
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record:Alt_name_t: Engelska: Linköping University. Department of Electrical Engineering
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record:Alt_name_t: ISY
- record:Note_publ_t: Linköping : Linköping University Electronic Press, 2009
- language:Eng_t 9 s.
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record:Series_t: LiTH-ISY-R, 1400-3902 ; 2911
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record:Fulltextlink_a_t (Sammanfattning och fulltext från Linköping University Electronic Press)
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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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