State Estimation of Over-Sensored Systems Applied to a Low-Cost Robotic Manipulator
Source abstract
Abstract
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.
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Research context
OpenAlex topics: Inertial Sensor and Navigation · Target Tracking and Data Fusion in Sensor Networks · Robotics and Sensor-Based Localization
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
FEUP—Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal
INESC 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, Portugal
Research Centre in Digitalization and Intelligent Robotics (CeDRI), School of Technology and Management, Polytechnic Institute of Bragança, Santa Apolónia Campus, 5300-253 Bragança, Portugal
References (17)
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