Method to Estimate the Position and Orientation of a Triaxial Accelerometer Mounted to an Industrial Manipulator

Axelsson, Patrik; Norrlöf, Mikael

doi:10.3182/20120905-3-hr-2030.00066

Cited by 12 publications

(6 citation statements)

References 7 publications

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“…To successfully estimate the orientation and position of a triaxial accelerometer on industrial robot, two basic steps are observed [6]. First, the internal sensor parameters and the accelerometer with orientation of the sensor.…”

Section: Results Analysis Of Reviewed Estimation Approachesmentioning

confidence: 99%

“…Although it can reduce error caused by random noise as well as having low cost and small size, random bias drift problems can occur here. Tri-axial accelerometer has also been used to determine position and orientation precisely [6]. Triaxial accelerometers provide simultaneous measurements in three orthogonal directions, for analysis of all the vibrations being experienced by a structure.…”

Section: Using Triaxial Accelerometersmentioning

confidence: 99%

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An Analysis on Position Estimation, Drifting and Accumulated Error Accuracy during 3D Tracking in Electronic Handheld Devices

Akhter¹,

Islam²,

Bhuiyan³

et al. 2018

JCC

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This work focuses on a brief discussion of new concepts of using smartphone sensors for 3D painting in virtual or augmented reality. Motivation of this research comes from the idea of using different types of sensors which exist in our smartphones such as accelerometer, gyroscope, magnetometer etc. to track the position for painting in virtual reality, like Google Tilt Brush, but cost effectively. Research studies till date on estimating position and localization and tracking have been thoroughly reviewed to find the appropriate algorithm which will provide accurate result with minimum drift error. Sensor fusion, Inertial Measurement Unit (IMU), MEMS inertial sensor, Kalman filter based global translational localization systems are studied. It is observed, prevailing approaches consist issues such as stability, random bias drift, noisy acceleration output, position estimation error, robustness or accuracy, cost effectiveness etc. Moreover, issues with motions that do not follow laws of physics, bandwidth, restrictive nature of assumptions, scale optimization for large space are noticed as well. Advantages of such smartphone sensor based position estimation approaches include, less memory demand, very fast operation, making them well suited for real time problems and embedded systems. Being independent of the size of the system, they can work effectively for high dimensional systems as well. Through study of these approaches it is observed, extended Kalman filter gives the highest accuracy with reduced requirement of excess hardware during tracking. It renders better and faster result when used in accelerometer sensor. With the aid of various software, error accuracy can be increased further as well.

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Section: Results Analysis Of Reviewed Estimation Approachesmentioning

confidence: 99%

Section: Using Triaxial Accelerometersmentioning

confidence: 99%

An Analysis on Position Estimation, Drifting and Accumulated Error Accuracy during 3D Tracking in Electronic Handheld Devices

Akhter¹,

Islam²,

Bhuiyan³

et al. 2018

JCC

View full text Add to dashboard Cite

show abstract

“…To achieve this goal, it is necessary to estimate in an accurate way the position and the velocity of these specific points (see e.g. [13][14][15][16]).…”

Section: Introductionmentioning

confidence: 99%

Modelling flexible multi-link robots for vibration control: Numerical simulations and real-time experiments

Giorgio

Corte

Vescovo

2017

Mathematics and Mechanics of Solids

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In this paper, a method based on the experimental knowledge of the frequency response function at some points of a flexible multi-link robot is proposed to evaluate its deformation and, in particular, the position of the end-effector. The rationale behind the method, which can also be used for structures more complex than the one analysed in this paper, is to try to minimize the number of sensors, while maintaining a reasonable accuracy. We propose two simple control laws aimed at minimizing implementation costs and, in order to show the performance of the method, we experimentally test them on a spring steel flexible beam.

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“…The acceleration € q can be measured directly using the accelerometer as represented in Lee et al 16 and Axelsson et al 17 Other methods are combining the accelerometer with a gyroscope when the accelerometer cannot provide useful information in case that the rotation axis is parallel to the direction of gravity. 18,19 By monitoring the external torque t e , collisions can be detected. However, equation (2) cannot be directly used to compute t e , since the acceleration value € q is hard to obtain.…”

Section: Rigid Body Dynamic Modelmentioning

confidence: 99%

A universal algorithm for sensorless collision detection of robot actuator faults

Chen

Luo

2018

Advances in Mechanical Engineering

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When a robot is working properly, it is possible to collide with people or objects entering its working space. This research is different than usual control algorithm. It proposes a universal algorithm for sensorless collision detection of robot actuator faults to enhance the security of the robot. On the basis of the dynamic model, a classical friction model to ensure the accuracy of the whole dynamic model is introduced. This collision detection algorithm can conduct without any external sensors or acceleration and realize the real-time detection just needs to measure the motor current and the location information from the encoder of the robot joint. The value of external torque t ext was used to compare with the threshold to detect the collision. After using the proposed collision detection method, the two rotational (2R) planar manipulators can detect the slight collision reliably. The experimental results and performance comparisons show that this sensorless collision detection algorithm is simple and effective. It can be promoted to any other type of robot arm with more degrees of freedom.

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Method to Estimate the Position and Orientation of a Triaxial Accelerometer Mounted to an Industrial Manipulator

Cited by 12 publications

References 7 publications

An Analysis on Position Estimation, Drifting and Accumulated Error Accuracy during 3D Tracking in Electronic Handheld Devices

An Analysis on Position Estimation, Drifting and Accumulated Error Accuracy during 3D Tracking in Electronic Handheld Devices

Modelling flexible multi-link robots for vibration control: Numerical simulations and real-time experiments

A universal algorithm for sensorless collision detection of robot actuator faults

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