Affiliation:
1. Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA 94720
2. Robot Laboratory, FANUC Ltd., Oshino-Mura, Yamanashi Prefecture 401-0597, Japan
Abstract
In control of industrial manipulators, the position from the motor encoder has been the only sensor measurement for axis control. In this case, it is not easy to estimate the end-effector motion accurately because of the kinematic errors of links, joint flexibility of gear mechanisms, and so on. Direct measurement of the end-effector using the vision sensor is considered as a solution but its performance is often limited by the slow sampling rate and the latency. To overcome these limitations, this paper extends the basic idea of the kinematic Kalman filter (KKF) to general rigid body motion leading to the formulation of the multidimensional kinematic kalman filter (MD-KKF). By combining the measurements from the vision sensor, the accelerometers and the gyroscopes, the MD-KKF can recover the intersample values and compensate for the measurement delay of the vision sensor providing the state information of the end-effector fast and accurately. The performance of the MD-KKF is verified experimentally using a planar two-link robot. The MD-KKF will be useful for widespread applications such as the high speed visual servo and the high-performance trajectory learning for robot manipulators, as well as the control strategies which require accurate velocity information.
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Reference9 articles.
1. Structures for Sensor-Based Robot Motion Control;Good
2. The Redefinition of the Robot Motion-Control Problem;Sweet;IEEE Control Syst. Mag.
3. Use of Accelerometer for Precision Motion Control of Linear Motor Driven Positioning System;Shim
4. State/Parameter/Disturbance Estimation With an Accelerometer in Precision Motion Control of a Linear Motor;Lee
5. Benefits of Acceleration Measurements in Velocity Estimation and Motion Control;Jeon;Control Eng. Pract.
Cited by
31 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献