Robot end-effector sensing with position sensitive detector and inertial sensors

Cong Wang, Wenjie Chen, Masayoshi Tomizuka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

24 Scopus citations

Abstract

For the motion control of industrial robots, the end-effector performance is of the ultimate interest. However, industrial robots are generally only equipped with motor-side encoders. Accurate estimation of the end-effector position and velocity is thus difficult due to complex joint dynamics. To overcome this problem, this paper presents an optical sensor based on position sensitive detector (PSD), referred as PSD camera, for direct end-effector position sensing. PSD features high precision and fast response while being cost-effective, thus is favorable for real-time feedback applications. In addition, to acquire good velocity estimation, a kinematic Kalman filter (KKF) is applied to fuse the measurement from the PSD camera with that from inertial sensors mounted on the end-effector. The performance of the developed PSD camera and the application of the KKF sensor fusion scheme have been validated through experiments on an industrial robot.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5252-5257
Number of pages6
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Externally publishedYes
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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