TY - GEN
T1 - Evaluation of Robot Manipulator Link Velocity and Acceleration Observer
AU - Birjandi, Seyed Ali Baradaran
AU - Fortunic, Edmundo Pozo
AU - Haddadin, Sami
N1 - Publisher Copyright:
Copyright © 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)
PY - 2023/7/1
Y1 - 2023/7/1
N2 - Robot manipulators link velocity and acceleration can be estimated using nonlinear observers. This is done by model-based fusion of inertial measurement units (IMUs) with the robot motor encoders. This method has been proven to be light, generally applicable (broad bandwidth) and easily implementable. However, due to technical difficulties, the full potential of this observer has never been evaluated. In this paper we attempt to report the complete aspects of the observer performance. For this, seven IMUs are installed on a robot manipulator and consequently, the observer is examined. Although the sensor technology as well as mechatronics challenges may degrade the overall performance, there exist methods to maintain the estimation accuracy to acceptable levels. We also review and evaluate some of these methods.
AB - Robot manipulators link velocity and acceleration can be estimated using nonlinear observers. This is done by model-based fusion of inertial measurement units (IMUs) with the robot motor encoders. This method has been proven to be light, generally applicable (broad bandwidth) and easily implementable. However, due to technical difficulties, the full potential of this observer has never been evaluated. In this paper we attempt to report the complete aspects of the observer performance. For this, seven IMUs are installed on a robot manipulator and consequently, the observer is examined. Although the sensor technology as well as mechatronics challenges may degrade the overall performance, there exist methods to maintain the estimation accuracy to acceptable levels. We also review and evaluate some of these methods.
KW - Information and sensor fusion
KW - Mechatronic systems
KW - Nonlinear observers and filter design
KW - Perception and sensing
KW - Robots manipulators
UR - http://www.scopus.com/inward/record.url?scp=85179849894&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2023.10.1583
DO - 10.1016/j.ifacol.2023.10.1583
M3 - Conference contribution
AN - SCOPUS:85179849894
T3 - IFAC-PapersOnLine
SP - 292
EP - 299
BT - IFAC-PapersOnLine
A2 - Ishii, Hideaki
A2 - Ebihara, Yoshio
A2 - Imura, Jun-ichi
A2 - Yamakita, Masaki
PB - Elsevier B.V.
T2 - 22nd IFAC World Congress
Y2 - 9 July 2023 through 14 July 2023
ER -