Estimation of camera-space manipulation parameters by means of an extended Kalman filter: Applications to parallel robots
| Autor: | Alejandro González, Emilio J Gonzalez-Galvan, Mauro Maya, Antonio Cardenas, Davide Piovesan |
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| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: | |
| Zdroj: | International Journal of Advanced Robotic Systems, Vol 16 (2019) |
| Druh dokumentu: | article |
| ISSN: | 1729-8814 17298814 |
| DOI: | 10.1177/1729881419842987 |
| Popis: | Parallel robots have a growing range of applications due to their appealing characteristics (high speed and acceleration, increased rigidity, etc.). However, several open problems make it difficult to model and control them. Low computational-cost algorithms are needed for high speed tasks where high accelerations are required. This article develops the nonlinear camera-space manipulation method and makes use of an extended Kalman filter (EKF) for the estimation of the camera-space manipulation parameters. This is presented as an alternative to the traditional method which can be time consuming while reaching convergence. The proposed camera-space manipulation parameter identification was performed in positioning tasks for a parallel manipulator and the experimental results are reported. Results show that it is possible to estimate the set of camera-space manipulation parameters by means of an extended Kalman filter. Using the proposed Kalman filter method we observed a significant reduction of the computational effort when estimating the camera-space manipulation parameters. However, there was no significant reduction of the robot’s positioning error. The proposed extended Kalman filter implementation requires only 2 ms to update the camera-space manipulation parameters compared to the 85 ms required by the traditional camera-space manipulation algorithm. Such time reduction is beneficial for the implementation of the method for a wide range of high speed and industrial applications. This article presents a novel use of an extended Kalman filter for the real-time estimation of the camera-space manipulation parameters and shows that it can be used to increase the positioning accuracy of a parallel robot. |
| Databáze: | Directory of Open Access Journals |
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