Method to Estimate the Position and Orientation of a Triaxial Accelerometer Mounted to an Industrial Manipulator
نویسندگان
چکیده
A novel method to find the orientation and position of a triaxial accelerometer mounted on a six degrees-of-freedom industrial robot is proposed and evaluated on experimental data. The method consists of two consecutive steps, where the first is to estimate the orientation of the accelerometer from static experiments. In the second step the accelerometer position relative to the robot base is identified using accelerometer readings when the accelerometer moves in a circular path and where the accelerometer orientation is kept constant in a path fixed coordinate system. Once the accelerometer position and orientation are identified it is possible to use the accelerometer in robot model parameter identification and in advanced control solutions. Compared to previous methods, the accelerometer position estimation is completely new, whereas the orientation is found using an analytical solution to the optimisation problem. Previous methods use a parameterisation where the optimisation uses an iterative solver.
منابع مشابه
Method to Estimate the Position and Orientation of a Triaxial Accelerometer Mounted to an Industrial Manipulator, Report no. LiTH-ISY-R-3025
A novel method to nd the orientation and position of a triaxial accelerometer mounted on a six degrees-of-freedom industrial robot is proposed and evaluated on experimental data. The method consists of two consecutive steps, where the rst is to estimate the orientation of the sensor data from static experiments. In the second step the sensor position relative to the robot base is identi ed usin...
متن کاملEstimation of Orientation and Position of an Accelerometer Mounted to an Industrial Manipulator, Report no. LiTH-ISY-R-2995
A method to nd the orientation and position of a three degree-of-freedom (DOF) accelerometer mounted on a six DOF industrial robot is proposed and evaluated on experimental data. The method consists of two consecutive steps, where the rst is to estimate the orientation of the sensor using data from static experiments. In the second step the sensor position relative to the robot base is identi e...
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