The paper describes an estimation and identification procedure that allows to reconstruct the inertial parameters of a rigid load attached to the end-effector of an industrial manipulator. In particular, the proposed method adopts a multirate quaternion-based Kalman filter, fusing measurements obtained from robot kinematics and inertial sensors at possibly different sampling frequencies, to estimate linear accelerations and angular velocities/accelerations of the load. Then, a recursive total least-squares (RTLS) process is executed to identify the load parameters. Both steps of the estimation and identification procedure are performed in real-time, without the need for offline post-processing of measured data.
Real-time identification of robot payload using a multirate quaternion-based kalman filter and recursive total least-squares / Farsoni, Saverio; Landi, Chiara Talignani; Ferraguti, Federica; Secchi, Cristian; Bonfe, Marcello. - (2018), pp. 2103-2109. ((Intervento presentato al convegno 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 tenutosi a aus nel 2018.
Data di pubblicazione: | 2018 |
Titolo: | Real-time identification of robot payload using a multirate quaternion-based kalman filter and recursive total least-squares |
Autore/i: | Farsoni, Saverio; Landi, Chiara Talignani; Ferraguti, Federica; Secchi, Cristian; Bonfe, Marcello |
Autore/i UNIMORE: | |
Digital Object Identifier (DOI): | http://dx.doi.org/10.1109/ICRA.2018.8461167 |
Codice identificativo Scopus: | 2-s2.0-85063134273 |
Codice identificativo ISI: | WOS:000446394501097 |
Nome del convegno: | 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 |
Luogo del convegno: | aus |
Data del convegno: | 2018 |
Serie: | PROCEEDINGS - IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION |
Pagina iniziale: | 2103 |
Pagina finale: | 2109 |
Citazione: | Real-time identification of robot payload using a multirate quaternion-based kalman filter and recursive total least-squares / Farsoni, Saverio; Landi, Chiara Talignani; Ferraguti, Federica; Secchi, Cristian; Bonfe, Marcello. - (2018), pp. 2103-2109. ((Intervento presentato al convegno 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 tenutosi a aus nel 2018. |
Tipologia | Relazione in Atti di Convegno |
File in questo prodotto:

I documenti presenti in Iris Unimore sono rilasciati con licenza Creative Commons Attribuzione - Non commerciale - Non opere derivate 3.0 Italia, salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris