The Concept of Future Worksite – Towards Teamwork-centered Field Robotic Systems

Saarinen, Jyrki; Suomela, Jukka; Halme, Aarne

doi:10.3182/20110828-6-it-1002.01449

Cited by 3 publications

(1 citation statement)

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“…In the field of mobile machines, there is a wide interest towards increased machine functionality in the form of advanced robotic controls, see e.g. [6], [7], [8], [9], which fundamentally depend on multi-sensor onboard instrumentation of the mobile machines. For a low-cost alternative to the mechanical contact or potentially clutterobscured optical sensing, solving the length of a telescopic link is viewed in this paper as an inversion problem based on a set of linear accelerometer and rate gyro readings.…”

Section: Introductionmentioning

confidence: 99%

Geometry-aided inversion of manipulator telescopic link length from MEMS accelerometer and rate gyro readings

Vihonen

Honkakorpi

Mattila

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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We consider solving telescopic manipulator link length using rate gyros and linear accelerometers. The research is built upon micro-electro-mechanical systems (MEMS) components for low-cost "strap-down" implementation. By formulating a standard inversion problem, the telescopic manipulator's link length is solved with the well-known LevenbergMarquard algorithm in real-time. The inversion is based on linear accelerations of angular motion sensed by a triaxial MEMS accelerometer, which is attached to the tip of the telescopic extension. By fusing the operator control commands for the link extension actuator with the inverted length estimate of the telescopic link, experiments on a hydraulic heavy-duty manipulator demonstrate feasibility of our novel approach.

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Section: Introductionmentioning

confidence: 99%