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

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

8065

Lastpage

8070

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;

fLanguage

English

Publisher

ieee

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

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5400313

Filename

5400313