DocumentCode :
2942627
Title :
Load side state estimation in robot with joint elasticity
Author :
Chen, Wenjie ; Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., Univ. of California, Berkeley, CA, USA
fYear :
2012
fDate :
11-14 July 2012
Firstpage :
598
Lastpage :
603
Abstract :
For robots with joint elasticity, discrepancies exist between the motor side and the load side. Thus the load side (end-effector) performance can hardly be guaranteed with motor side measurements alone. In this paper, a computationally easy load side state estimation scheme is proposed for the robots with joint elasticity, which is equipped with motor encoders and a low-cost end-effector MEMS sensor such as 3-axial accelerometer. An optimization based inverse differential kinematics algorithm is developed to obtain the load side joint acceleration estimate. Then the joint position and velocity estimation problem is decoupled into simple 2-order kinematic Kalman filters for each joint. Maximum likelihood principle is utilized to estimate the fictitious noise covariances. Both offline and online solutions are derived. The extension to other sensor configurations is discussed as well. The effectiveness of the developed method is validated through simulation and experimental study on a 6-DOF industrial robot.
Keywords :
Kalman filters; acceleration; accelerometers; elasticity; end effectors; industrial manipulators; manipulator kinematics; microsensors; optimisation; state estimation; 6-DOF industrial robot; end-effector performance; fictitious noise covariance estimation; joint elasticity; joint position; load side joint acceleration estimate; load side state estimation; low-cost end-effector MEMS sensor; maximum likelihood principle; motor encoders; motor side; motor side measurements; off-line solutions; online solutions; optimization-based inverse differential kinematics algorithm; robots; sensor configurations; simple 2-order kinematic Kalman filters; velocity estimation problem; Accelerometers; Estimation; Joints; Kalman filters; Kinematics; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2012 IEEE/ASME International Conference on
Conference_Location :
Kachsiung
ISSN :
2159-6247
Print_ISBN :
978-1-4673-2575-2
Type :
conf
DOI :
10.1109/AIM.2012.6265906
Filename :
6265906
Link To Document :
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