Position Estimation for Manipulators Based on Multisensor Fusion
Maximizing the tracking performance of an industrial manipulators requires an accurate position estimation of the end-effector. By using the motor position from the encoder, the accuracy of end-effector position estimation is affected by the gear mechanisms employed by industrial manipulators. An accelerometer is fixed on the end-effector to get measurements that reflect the actual end-effector motion and the effect of unmodelled dynamics. In the paper a multisensor fusion method is presented to achieve good estimates of the position of the end-effector fusing the measurements from an accelerometer, a gyroscope and the encoders of joints’ motors. Since the robot dynamics and measurements are highly nonlinear and the measurement noise is non- Gaussian, the particle filter provides a solution to the sensor fusion problem. Simulation research results show an improvement in position accuracy using proposed method.
Position Estimation Manipulators Multisensor Fusion Particle Filter
Xuemei Ren Guangyue Xue
School of Automation, Beijing Institute of Technology, Beijing 100081, P. R. China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
5082-5087
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）