Extended Kalman filter-based sensor fusion for operational space control of a robot arm

IEEE Transactions on Instrumentation and Measurement

Volumn 51, Issue 6, 2002, Pages 1279-1281

  Jassemi Zargani, Rahim ^a   Necsulescu, Dan ^b  

^a DEFENCE RESEARCH AND DEVELOPMENT CANADA   (Canada)

^b UNIVERSITY OF OTTAWA   (Canada)

Author keywords

Extended Kalman filter (EKF); Multisensor fusion; Operational space control; Robot arm

Indexed keywords

ACCELERATION; ALGORITHMS; END EFFECTORS; GAUSSIAN NOISE (ELECTRONIC); KALMAN FILTERING; REAL TIME SYSTEMS; SERVOMOTORS; WHITE NOISE;

EXTENDED KALMAN FILTERS (EKF); MULTISENSOR FUSION; OPERATIONAL SPACE CONTROL; ROBOT ARMS;

SENSOR DATA FUSION;

EID: 27744587354     PISSN: 00189456     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIM.2002.808050     Document Type: Article

References (17)

1. S. Komada and K. Ohinishi, "Force feedback control of robot manipulator by the acceleration tracing orientation method," IEEE Trans. Ind. Electron., vol. 37, pp. 6-12, Feb. 1991.
2. T. C. S. Hsia, T. A. Lasky, and Z. Guo, "Robot independent joint controller design for industrial robot," IEEE Trans. Ind. Electron., vol. 38, Feb. 1991.
3. K. Yousef-Toumi and T. A. Fuhlbrigge, "Application of a decentralized time delay controller to robot manipulators," in IEEE Int. Conf. Robot. Automat., 1988, pp. 1786-1791.
4. W. S. Lu and Q. H. Meng, "Impedance control with adaptation for robotic manipulations," IEEE Trans. Robot. Automat., vol. 7, pp. 408-415, June 1991.
5. G. J. Liu and A. A. Goldenberg, "Robust hybrid impedance control of robot manipulators," in IEEE Int. Conf. Robot. Automat., vol. 1, Apr. 1991, pp. 287-292.
6. R. Jassemi and D. Necsulescu, "Real time implementation of the impedance control of a robot arm," in Proc. CSME Forum, Toronto, ON, Canada, May 19-22, 1998.
7. R. Jassemi-Zargani, "Impedance control of a dual-arm robot," Ph.D. dissertation, Dept. Mech. Eng., Univ. Ottawa, Ottawa, Canada, 1998.
8. G. C. Goodwin and K. S. Sin, Adaptive Filtering Prediction and Control. Englewood Cliffs, NJ: Prentice-Hall, 1984.
9. J. A. Barrie, Modern Control Systems. London, U.K.: Prentice-Hall International, 1986.
10. G. Ferretti et al., "Modular dynamic virtual reality modeling of robotic systems," IEEE Robot. Automat. Mag., pp. 13-23, Dec. 1999.
11. B. Friedland, Control System Design. New York: McGraw Hill, 1986.
12. dSPACE, Solutions for Control, Catalog 2000 [Online]. Available: www.dspaceinc.com.
13. Metalorque Motor System, User's Manual, Motion and Control Technology, Japan: NSK NIPPON SEIKO K.K., 1989.
14. V-ACCESS Capacitive Accelerometer, ACCESS Sensors SA, Switzerland, 1992.
15. NAS Series Accelerometer Notes. Santa Clara, CA: Nova Sensor, 1989.
16. National Semiconductor. MF4 4th Order Switched Capacitor Butterworth Low-Pass Filter. [Online]. Available: http://www.national.com/ds/MF/MF4.pdf.
17. D. S. Necsulescu, J. de Carufel, and S. Kalaycioglu, "Predictive control of manipulators for free and contact motion," in Proc. ESDA/ASME Conf., (invited paper), Montpellier, France, July 1-4, 1996.