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A robust optical/inertial data fusion system for motion tracking of the robot manipulator
  • 期刊名称：Journal of Zhejiang University - Science C
  • 时间：2014
  • 页码：574-583
  • 分类：TP23[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]
  • 作者机构：[1]State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China, [2]ABB Corporate Research China, Shanghai 201319, China
  • 相关基金：Project supported by the National Natural Science Foundation of China（No.51221004）;Sponsored Research between ABB Re-search Ltd. and Zhejiang University
  • 相关项目：机电液系统基础研究
作者： Can-jun Yang|Jens Hofschulte|Wan-li Jiang|Cha Zhang|
中文摘要：

We present an optical/inertial data fusion system for motion tracking of the robot manipulator, which is proved to be more robust and accurate than a normal optical tracking system(OTS). By data fusion with an inertial measurement unit(IMU), both robustness and accuracy of OTS are improved. The Kalman filter is used in data fusion. The error distribution of OTS pro-vides an important reference on the estimation of measurement noise using the Kalman filter. With a proper setup of the system and an effective method of coordinate frame synchronization, the results of experiments show a significant improvement in terms of robustness and position accuracy.

英文摘要：

We present an optical/inertial data fusion system for motion tracking of the robot manipulator, which is proved to be more robust and accurate than a normal optical tracking system（OTS）. By data fusion with an inertial measurement unit（IMU）, both robustness and accuracy of OTS are improved. The Kalman filter is used in data fusion. The error distribution of OTS pro-vides an important reference on the estimation of measurement noise using the Kalman filter. With a proper setup of the system and an effective method of coordinate frame synchronization, the results of experiments show a significant improvement in terms of robustness and position accuracy.

同期刊论文项目
机电液系统基础研究
期刊论文 395 会议论文 43 专利 39 著作 2
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