State Estimation of Over-Sensored Systems Applied to a Low-Cost Robotic Manipulator
There is an increasing demand for robotic manipulators to perform more complex and versatile tasks. In order to fulfill this need, expeditious calibration and estimation techniques are required as a first step for the correct usage of the manipulator. This article aims at finding a subset of these a...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-03-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/6/2519 |
| _version_ | 1797541727581503488 |
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| author | João Moreira Vítor H. Pinto José Gonçalves Paulo Costa |
| author_facet | João Moreira Vítor H. Pinto José Gonçalves Paulo Costa |
| author_sort | João Moreira |
| collection | DOAJ |
| description | There is an increasing demand for robotic manipulators to perform more complex and versatile tasks. In order to fulfill this need, expeditious calibration and estimation techniques are required as a first step for the correct usage of the manipulator. This article aims at finding a subset of these algorithms that could be used in a generic manipulator and should allow for its prompt use. Two models for the representation of the pose of the manipulator are described and used in the state estimation problem. The results of the implementation are tested, and some performance metrics are obtained. |
| first_indexed | 2024-03-10T13:19:51Z |
| format | Article |
| id | doaj.art-f0b33805e9174ef5b40f1f234ab9b681 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T13:19:51Z |
| publishDate | 2021-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-f0b33805e9174ef5b40f1f234ab9b6812023-11-21T10:07:10ZengMDPI AGApplied Sciences2076-34172021-03-01116251910.3390/app11062519State Estimation of Over-Sensored Systems Applied to a Low-Cost Robotic ManipulatorJoão Moreira0Vítor H. Pinto1José Gonçalves2Paulo Costa3FEUP—Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, PortugalFEUP—Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, PortugalINESC TEC—Institute for Systems and Computer Engineering, Technology and Science, Centre for Robotics in Industry and Intelligent Systems (CRIIS), Campus of FEUP, Rua Dr. Roberto Frias, 4200-465 Porto, PortugalFEUP—Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, PortugalThere is an increasing demand for robotic manipulators to perform more complex and versatile tasks. In order to fulfill this need, expeditious calibration and estimation techniques are required as a first step for the correct usage of the manipulator. This article aims at finding a subset of these algorithms that could be used in a generic manipulator and should allow for its prompt use. Two models for the representation of the pose of the manipulator are described and used in the state estimation problem. The results of the implementation are tested, and some performance metrics are obtained.https://www.mdpi.com/2076-3417/11/6/2519state estimationrobotic manipulatorover-sensoredautomatic processmechatronics |
| spellingShingle | João Moreira Vítor H. Pinto José Gonçalves Paulo Costa State Estimation of Over-Sensored Systems Applied to a Low-Cost Robotic Manipulator Applied Sciences state estimation robotic manipulator over-sensored automatic process mechatronics |
| title | State Estimation of Over-Sensored Systems Applied to a Low-Cost Robotic Manipulator |
| title_full | State Estimation of Over-Sensored Systems Applied to a Low-Cost Robotic Manipulator |
| title_fullStr | State Estimation of Over-Sensored Systems Applied to a Low-Cost Robotic Manipulator |
| title_full_unstemmed | State Estimation of Over-Sensored Systems Applied to a Low-Cost Robotic Manipulator |
| title_short | State Estimation of Over-Sensored Systems Applied to a Low-Cost Robotic Manipulator |
| title_sort | state estimation of over sensored systems applied to a low cost robotic manipulator |
| topic | state estimation robotic manipulator over-sensored automatic process mechatronics |
| url | https://www.mdpi.com/2076-3417/11/6/2519 |
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