Tool Position Estimation of a Flexible Industrial Robot using Recursive Bayesian Methods, Report no. LiTH-ISY-R-3024
نویسندگان
چکیده
A sensor fusion method for state estimation of a exible industrial robot is presented. By measuring the acceleration at the end-e ector, the accuracy of the arm angular position is improved signi cantly when these measurements are fused with motor angle observation. The problem is formulated in a Bayesian estimation framework and two solutions are proposed; one using the extended Kalman lter (ekf) and one using the particle lter (pf). The technique is veri ed on experiments on the ABB IRB4600 robot, where the accelerometer method is showing a signi cant better dynamic performance, even when model errors are present.
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