کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
699557 | 890776 | 2012 | 9 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Bayesian state estimation of a flexible industrial robot
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
A sensor fusion method for state estimation of a flexible industrial robot is developed. By measuring the acceleration at the end-effector, the accuracy of the arm angular position, as well as the estimated position of the end-effector are improved. The problem is formulated in a Bayesian estimation framework and two solutions are proposed; the extended Kalman filter and the particle filter. In a simulation study on a realistic flexible industrial robot, the angular position performance is shown to be close to the fundamental Cramér-Rao lower bound. The technique is also verified in experiments on an ABB robot, where the dynamic performance of the position for the end-effector is significantly improved.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 20, Issue 11, November 2012, Pages 1220–1228
Journal: Control Engineering Practice - Volume 20, Issue 11, November 2012, Pages 1220–1228
نویسندگان
Patrik Axelsson, Rickard Karlsson, Mikael Norrlöf,