TY - GEN
T1 - Robot end-effector sensing with position sensitive detector and inertial sensors
AU - Wang, Cong
AU - Chen, Wenjie
AU - Tomizuka, Masayoshi
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84864469529&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84864469529&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2012.6225180
DO - 10.1109/ICRA.2012.6225180
M3 - Conference contribution
AN - SCOPUS:84864469529
SN - 9781467314039
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5252
EP - 5257
BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Y2 - 14 May 2012 through 18 May 2012
ER -