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Joint-Space Kinematic Model for Gravity-Referenced Joint Angle Estimation of Heavy-Duty Manipulators

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Joint-Space Kinematic Model for Gravity-Referenced Joint Angle Estimation of Heavy-Duty Manipulators. / Vihonen, Juho; Mattila, Jouni; Visa, Ari.

julkaisussa: IEEE Transactions on Instrumentation and Measurement, Vuosikerta 66, Nro 12, 2017, s. 3280-3288.

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Harvard

Vihonen, J, Mattila, J & Visa, A 2017, 'Joint-Space Kinematic Model for Gravity-Referenced Joint Angle Estimation of Heavy-Duty Manipulators', IEEE Transactions on Instrumentation and Measurement, Vuosikerta. 66, Nro 12, Sivut 3280-3288. https://doi.org/10.1109/TIM.2017.2749918

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Author

Vihonen, Juho ; Mattila, Jouni ; Visa, Ari. / Joint-Space Kinematic Model for Gravity-Referenced Joint Angle Estimation of Heavy-Duty Manipulators. Julkaisussa: IEEE Transactions on Instrumentation and Measurement. 2017 ; Vuosikerta 66, Nro 12. Sivut 3280-3288.

Bibtex - Lataa

@article{0eb232a811084c0c88092a32b0a2b0ee,
title = "Joint-Space Kinematic Model for Gravity-Referenced Joint Angle Estimation of Heavy-Duty Manipulators",
abstract = "A gravity-referenced joint angle estimation, which acts in joint space, is proposed for multiple-degree-of-freedom hydraulic manipulators. As a novelty, the estimation pairs up inertial units across a section of an open kinematic chain. In this way, the three-axis linear accelerometers and the three-axis rate gyros provide a drift-free solution for observing the motion state of a rotary joint connecting two links without relying on the full forward kinematics. For a low-noise, low-delay estimate, the linear accelerations acting on the paired inertial units are modeled and robustly combined with the principles of complementary and Kalman filtering. In pick-and-place experiments with a serial-link manipulator on a multiton, off-road forestry vehicle, joint angle sensing error of less than ±1° was achieved in spite of the dynamic interaction between the vehicle base and the terrain. Furthermore, the kinematic modeling's ability to compensate for the nonplanar, coupled 3-D linkage motion is studied for one- and two-axis rate measurements along with Cartesian path tracking. This gives new insights from the typical planar kinematic models and heavy-duty control viewpoints.",
keywords = "Acceleration, Accelerometers, Couplings, Estimation, gyroscopes, Kinematics, kinematics, Manipulators, manipulators, microelectromechanical devices., Robot sensing systems",
author = "Juho Vihonen and Jouni Mattila and Ari Visa",
year = "2017",
doi = "10.1109/TIM.2017.2749918",
language = "English",
volume = "66",
pages = "3280--3288",
journal = "IEEE Transactions on Instrumentation and Measurement",
issn = "0018-9456",
publisher = "Institute of Electrical and Electronics Engineers",
number = "12",

}

RIS (suitable for import to EndNote) - Lataa

TY - JOUR

T1 - Joint-Space Kinematic Model for Gravity-Referenced Joint Angle Estimation of Heavy-Duty Manipulators

AU - Vihonen, Juho

AU - Mattila, Jouni

AU - Visa, Ari

PY - 2017

Y1 - 2017

N2 - A gravity-referenced joint angle estimation, which acts in joint space, is proposed for multiple-degree-of-freedom hydraulic manipulators. As a novelty, the estimation pairs up inertial units across a section of an open kinematic chain. In this way, the three-axis linear accelerometers and the three-axis rate gyros provide a drift-free solution for observing the motion state of a rotary joint connecting two links without relying on the full forward kinematics. For a low-noise, low-delay estimate, the linear accelerations acting on the paired inertial units are modeled and robustly combined with the principles of complementary and Kalman filtering. In pick-and-place experiments with a serial-link manipulator on a multiton, off-road forestry vehicle, joint angle sensing error of less than ±1° was achieved in spite of the dynamic interaction between the vehicle base and the terrain. Furthermore, the kinematic modeling's ability to compensate for the nonplanar, coupled 3-D linkage motion is studied for one- and two-axis rate measurements along with Cartesian path tracking. This gives new insights from the typical planar kinematic models and heavy-duty control viewpoints.

AB - A gravity-referenced joint angle estimation, which acts in joint space, is proposed for multiple-degree-of-freedom hydraulic manipulators. As a novelty, the estimation pairs up inertial units across a section of an open kinematic chain. In this way, the three-axis linear accelerometers and the three-axis rate gyros provide a drift-free solution for observing the motion state of a rotary joint connecting two links without relying on the full forward kinematics. For a low-noise, low-delay estimate, the linear accelerations acting on the paired inertial units are modeled and robustly combined with the principles of complementary and Kalman filtering. In pick-and-place experiments with a serial-link manipulator on a multiton, off-road forestry vehicle, joint angle sensing error of less than ±1° was achieved in spite of the dynamic interaction between the vehicle base and the terrain. Furthermore, the kinematic modeling's ability to compensate for the nonplanar, coupled 3-D linkage motion is studied for one- and two-axis rate measurements along with Cartesian path tracking. This gives new insights from the typical planar kinematic models and heavy-duty control viewpoints.

KW - Acceleration

KW - Accelerometers

KW - Couplings

KW - Estimation

KW - gyroscopes

KW - Kinematics

KW - kinematics

KW - Manipulators

KW - manipulators

KW - microelectromechanical devices.

KW - Robot sensing systems

U2 - 10.1109/TIM.2017.2749918

DO - 10.1109/TIM.2017.2749918

M3 - Article

VL - 66

SP - 3280

EP - 3288

JO - IEEE Transactions on Instrumentation and Measurement

JF - IEEE Transactions on Instrumentation and Measurement

SN - 0018-9456

IS - 12

ER -