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Estimation of camera-space manipulation parameters by means of an extended Kalman filter: Applications to parallel robots
| Content Provider | SAGE Publishing |
|---|---|
| Author | González, Alejandro Gonzalez-Galvan, Emilio J. Maya, Mauro Cardenas, Antonio Piovesan, Davide |
| Copyright Year | 2019 |
| Abstract | Parallel robots have a growing range of applications due to their appealing characteristics (high speed and acceleration, increased rigidity, etc.). However, several open problems make it difficult to model and control them. Low computational-cost algorithms are needed for high speed tasks where high accelerations are required. This article develops the nonlinear camera-space manipulation method and makes use of an extended Kalman filter (EKF) for the estimation of the camera-space manipulation parameters. This is presented as an alternative to the traditional method which can be time consuming while reaching convergence. The proposed camera-space manipulation parameter identification was performed in positioning tasks for a parallel manipulator and the experimental results are reported. Results show that it is possible to estimate the set of camera-space manipulation parameters by means of an extended Kalman filter. Using the proposed Kalman filter method we observed a significant reduction of the computational effort when estimating the camera-space manipulation parameters. However, there was no significant reduction of the robot’s positioning error. The proposed extended Kalman filter implementation requires only 2 ms to update the camera-space manipulation parameters compared to the 85 ms required by the traditional camera-space manipulation algorithm. Such time reduction is beneficial for the implementation of the method for a wide range of high speed and industrial applications. This article presents a novel use of an extended Kalman filter for the real-time estimation of the camera-space manipulation parameters and shows that it can be used to increase the positioning accuracy of a parallel robot. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.1177/1729881419842987?download=true |
| ISSN | 17298806 |
| Issue Number | 2 |
| Volume Number | 16 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.1177/1729881419842987 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2019-04-24 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © The Author(s) 2019 |
| Subject Keyword | camera-space manipulation extended Kalman filter Vision-based control parallel robot |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
