Please use this identifier to cite or link to this item:
https://hdl.handle.net/2440/105178
Type: | Conference paper |
Title: | A robotic joint sensor |
Author: | McLean, L. Chen, L. Robertson, W. |
Citation: | Australasian Conference on Robotics and Automation, ACRA, 2015, pp.1-8 |
Publisher: | ARAA |
Issue Date: | 2015 |
ISSN: | 1448-2053 |
Conference Name: | Australasian Conference on Robotics and Automation (2 Dec 2015 - 4 Dec 2015 : Canberra, ACT) |
Statement of Responsibility: | Laurence McLean, Lei Chen, William S. P. Robertson |
Abstract: | This work reports on the current state of a robotic joint sensor unit capable of estimating the relative angular acceleration, velocity and position of hinged robotic links. To this end the accelerometer-only Inertial Measurement Unit (IMU) concept is built upon to incorporate an incremental encoder and extra accelerometer to gather the extra information required to estimate the relative position, velocity and acceleration components. Two cascaded Unscented Kalman Filters are then used to separately estimate the IMU component and the relative component. Simulation of the system shows promising results with all states being estimated under a range of dynamic motions. |
Description: | Paper 130 |
Rights: | Copyright status unknown |
Published version: | http://www.araa.asn.au/conferences/acra-2015/table-of-contents/ |
Appears in Collections: | Aurora harvest 3 Mechanical Engineering conference papers |
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