Evaluation of Six Different Sensor Fusion Methods for an Industrial Robot using Experimental Data

• Experimental evaluations for path estimation are performed on an ABB IRB4600 robot. Different observers using Bayesian techniques with different estimation models are proposed. The estimated paths are compared to the true path measured by a laser tracking system. There is no significant difference in performance between the six observers. Instead, execution time, model complexities and implementation issues have to be considered when choosing the method.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

Estimation

Extended Kalman filter

Particle filter

Accelerometer

Industrial robots

Publikations- och innehållstyp

vet (ämneskategori)

rap (ämneskategori)