Estimation of orientation and position of the manipulator using the extended kalman filter based on measurements from the accelerometers

• Autorzy: Kobierska Agnieszka , Rakowski Piotr , Podsędkowski Leszek

Identyfikatory

DOI

10.14313/JAMRIS/2-2019/15

• Języki publikacji: EN

Abstrakty

EN

Authors present the kinematic structure of measurement arm along with its construction for efficient estimation of orientation and position of the manipulator using extended Kalman filter. The major innovation of the arm is that it only uses accelerometers as gravity sensors for determining relative positions of the links. This article presents the problem of position estimation based on measurements with high noise and the use of the extended Kalman filter to limit the impact of noise on the measurement. Repeatability tests were performed using custom made test stand.

Słowa kluczowe

EN

EKF; accelerometers; measuring arm

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2019
• Tom: Vol. 13, No. 2
• Strony: 23--27
• Opis fizyczny: Bibliogr. 10 poz., rys.

Twórcy

autor

Kobierska Agnieszka

• Lodz University of Technology, Institute of Machine Tools and Production Engineering, 1/15 B. Stefanowskiego Street, 90-924 Lodz

autor

Rakowski Piotr

• Lodz University of Technology, Institute of Machine Tools and Production Engineering, 1/15 B. Stefanowskiego Street, 90-924 Lodz

autor

Podsędkowski Leszek

• Lodz University of Technology, Institute of Machine Tools and Production Engineering, 1/15 B. Stefanowskiego Street, 90-924 Lodz

Bibliografia

• [1] P. Rakowski, A. Kobierska, L. Podsędkowski, and P. Poryzała, “Accuracy and Repeatability Tests on 6D Measurement Arm”, Mechanics and Mechanical Engineering, vol. 21, no. 2, 2017, 425–436.
• [2] A. Kobierska, L. Podsędkowski, P. Rakowski, S. Rejmonczyk, J. Kaszowski, K. Olejniczak, . Golasiński, and K. Kaczmarek, “A Methodology of Orthopaedic Measurement Arm Workspace Determination”, Mechanics and Mechanical Engineering, vol. 21, no. 2, 2017, 185–191.
• [3] Peng Cheng and B. Oelmann, “Joint-Angle Measurement Using Accelerometers and Gyroscopes – Survey”, IEEE Transactions on Instrumentation and Measurement, vol. 59, no. 2, 2010, 404–414, 10.1109/TIM.2009. 2024367.
• [4] M. El-Gohary and J. McNames, “Human Joint Angle Estimation with Inertial Sensors and Validation with A Robot Arm”, IEEE Transactions on Biomedical Engineering, vol. 62, no. 7, 2015, 1759–1767, 10.1109/TBME.2015.2403368.
• [5] M. El-Gohary and J. McNames, “Shoulder and Elbow Joint Angle Tracking With Inertial Sensors”, IEEE Transactions on Biomedical Engineering, vol. 59, no. 9, 2012, 2635–2641, 10.1109/TBME.2012.2208750.
• [6] E. Jezierski, Dynamika Robotów (Robot Dynamics), Wydawnictwa Naukowo-Techniczne, 2006 (In Polish).
• [7] M. Quigley, R. Brewer, S. P. Soundararaj, V. Pradeep, Q. Le, and A. Y. Ng, “Low-cost accelerometers for robotic manipulator perception”. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, 6168–6174, 10.1109/IROS. 2010.5649804.
• [8] R. Manish, “Linear and Non-linear Estimation Techniques: Theory and Comparison”, 2014, arXiv:1406.5556.
• [9] P. Żak, “Master Manipulator Orientation Determination Method Using Extended Kalman Filter”. In: 18th International Conference on Mechatronics – Mechatronika, Brno, 2018, 276–280.
• [10] P. Poryzała, A. Kobierska, L. Podsędkowski, and P. Rakowski, “Prototyp urządzenia wspomagającego śródoperacyjną kontrolę długości kończyn dolnych podczas zabiegu endoprotezoplastyki tawu biodrowego (Prototype of a device for intraoperative measurements of limb length changes during total hip arthroplasty)”, Przegląd Elektrotechniczny, vol. 93, no. 8, 2017, 129–132, 10.15199/48.2017.08.34.

Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).