NDLI: Velocity estimation by using imperfect accelerometer and encoder for rigid contact modeling and control

Content Provider	IEEE Xplore Digital Library
Author	Wen-Hong Zhu Lamarche, T.
Copyright Year	2006
Description	Author affiliation: Spacecraft Eng., Canadian Space Agency, Ottawa, Ont. (Wen-Hong Zhu; Lamarche, T.)
Abstract	Velocity estimation is crucial to certain robotic applications involving high bandwidth modeling and control. In the conventional approaches, the velocities generated from encoders or tachometers are quite noisy and low-pass filters are usually engaged to generate usable velocity signals. The low-pass filter, however, cause non negligible phase lag that may severely affect both modeling and control accuracy in the middle and high frequency range. In this paper, two approaches of using a fusion of an encoder and an imperfect accelerometer are proposed to estimate accurate velocities. The two approaches, namely the two-channel approach and the observer-based approach, estimate velocities by using proper frequency weightings over the encoder and accelerometer signals. The encoder mainly contributes to the low-frequency part of the velocity estimation and the accelerometer mainly contribute to the high-frequency part of the velocity estimation. An adaptive mechanism for estimating the accelerometer gain is also presented. The effectiveness of the two proposed velocity estimation approaches is verified experimentally with respect to a one degree-of-freedom robot in terms of both rigid contact modeling and control
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	4234
Ending Page	4239
File Size	388415
Page Count	6
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1642353
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Accelerometers Velocity control Frequency estimation Signal generators Low pass filters Velocity measurement Sampling methods Quantization Robots Acceleration
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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