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Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference

DOI: 10.1109/cdc.2009.5400313

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Experimental comparison of observers for tool position estimation of industrial robots

Proceedings article published in 2009 by Robert Henriksson, Mikael Norrlof, Stig Moberg, Erik Wernholt, Thomas B. Schon ORCID
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This paper is available in a repository.

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Abstract

This paper investigates methods for tool position estimation of industrial robots. It is assumed that the motor angular position and the tool acceleration are measured. The considered observers are different versions of the extended Kalman filter as well as a deterministic observer. A method for tuning the observers is suggested and the robustness of the methods is investigated. The observers are evaluated experimentally on a commercial industrial robot.