Sökning: onr:13993814 > Method to estimate ...
Fältnamn | Indikatorer | Metadata |
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000 | 02775cam a22003737a 4500 | |
001 | 13993814 | |
003 | SE-LIBR | |
005 | 20130410132552.0 | |
007 | cr ||||||||||| | |
008 | 130410s2011 sw |||| o 00| 0|eng c | |
040 | a Li | |
100 | 1 | a Axelsson, Patrik |
245 | 1 0 | a Method to estimate the position and orientation of a triaxial accelerometer mounted to an industrial manipulatorh [Elektronisk resurs] /c Patrik Axelsson, Mikael Norrlöf |
256 | a Text | |
260 | a Linköping :b Department of Electrical Engineering, Linköpings universitet,c 2011 | |
300 | a 7 s. | |
490 | 1 | a LiTH-ISY-R,x 1400-3902 ;v 3025 |
520 | a 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. | |
650 | 7 | a Reglerteknik2 sao0 157876 |
650 | 0 | a Automatic control |
653 | a Robotics | |
653 | a Accelerometer | |
700 | 1 | a Norrlöf, Mikael,d 1971-0 279863 |
710 | 2 | a Linköpings universitet.b Institutionen för systemteknik4 pbl0 257709 |
830 | 0 | a LiTH-ISY-R,x 1400-3902 ;v 3025 |
856 | 4 0 | u http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-88973z Sammanfattning och fulltext från Linköping University Electronic Press |
900 | 1 s | 6 700a Norrlöf, Using iterative learning control to get better performance of robot control systems / Mikael Norrlöf,Svante Gunnarsson Place : Publisher,,d 1971-u Norrlöf, Mikael,d 1971- |
910 | 2 s | 6 710a ISYu Linköpings universitet.b Institutionen för systemteknik |
910 | 2 s | 6 710i Engelska:a Linköping University.b Department of Electrical Engineeringw iu Linköpings universitet.b Institutionen för systemteknik |
950 | k | 6 650w ha Processkontrollu Reglerteknik |
950 | k | 6 650a Processtyrningw hu Reglerteknik |
950 | k | 6 650w ha Servomekanismeru Reglerteknik |
841 | 5 Lia x ab 1304104u 8 1001uu 0901128e 4 | |
852 | 8 | 5 Lib Lic NÄTh INTERNET |
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