In the application of industrial robot manipulators, it is often desirable to obtain accurate position and velocity information regarding the end-effector. Estimations based on motor-side encoders alone are often inaccurate due to joint flexibilities and errors in the robot link kinematics. A vision based approach may also be insufficient due to its low sampling rate and image processing and transportation delay. However, with additional accelerometer measurements, a kinematic Kalman filter (KKF) can be formulated to estimate the end-effector motion accurately without encoder signals. The estimation results can be utilized for real time tracking control effectively. In this paper a multirate kinematic Kalman filter (KKF) scheme is formulated using vision and acceleration measurements from the end-effector. Estimations based on the scheme are utilized as feedback signals for tracking control. The effectiveness of the proposed approach is demonstrated by experiments on a single joint direct drive setup.
- Dynamic Systems and Control Division
Inertial and Vision Sensor Based End-Effector Sensing and Control for Robot Manipulators
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Cheng, H, & Tomizuka, M. "Inertial and Vision Sensor Based End-Effector Sensing and Control for Robot Manipulators." Proceedings of the ASME 2010 Dynamic Systems and Control Conference. ASME 2010 Dynamic Systems and Control Conference, Volume 2. Cambridge, Massachusetts, USA. September 12–15, 2010. pp. 563-568. ASME. https://doi.org/10.1115/DSCC2010-4286
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