IEEE - Institute of Electrical and Electronics Engineers, Inc. - Novel pairwise coupled kinematic solution for algebraic angular acceleration estimation of serial link manipulators

2015 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Juho Vihonen ; Janne Honkakorpi ; Jouni Mattila ; Ari Visa
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2015
Conference Location: Seattle, WA, USA
Conference Date: 26 May 2015
Page(s): 809 - 814
ISBN (Electronic): 978-1-4799-6923-4
ISBN (DVD): 978-1-4799-6921-0
DOI: 10.1109/ICRA.2015.7139271
Regular:

We consider low-noise angular acceleration estimation for multi-axis robotic manipulators. The proposed model uses pairwise coupled inertial measurements across a section of the kinematic chain,... View More

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