Title :
Experimental comparison of observers for tool position estimation of industrial robots
Author :
Henriksson, Robert ; Norrlöf, Mikael ; Moberg, Stig ; Wernholt, Erik ; Schön, Thomas B.
Author_Institution :
Dept. of Electr. Eng., Linkoping Univ., Linkoping, Sweden
Abstract :
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.
Keywords :
Kalman filters; angular measurement; industrial robots; nonlinear filters; observers; position measurement; tools; deterministic observer; extended Kalman filter; industrial robot; motor angular position measurement; tool acceleration measurement; tool position estimation; Acceleration; Accelerometers; Cost function; Frequency estimation; Gravity; Position measurement; Robot kinematics; Robot sensing systems; Robustness; Service robots;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400313
