...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >An Accelerometer Configuration for Reference-Frame-Independent Linear-State Estimation
【24h】

An Accelerometer Configuration for Reference-Frame-Independent Linear-State Estimation

机译：用于独立于参考系的线性状态估计的加速度计配置

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper presents a novel three single-axis accelerometer configuration for measuring relative acceleration in a moving reference frame without knowledge of motion or orientation of the moving frame itself. Also presented is an extended Kalman filter (EKF) that combines this relative acceleration measurement with a linear-position measurement for state estimation. The motivation for this approach is the need for high-quality linear-state estimation in pneumatic cylinder control, but potential applications of this approach are much broader, including mobile robots and general relative linear-state sensing. When applied to a pneumatic cylinder, this method eliminates the need for kinematic knowledge of the cylinder base and allows state estimation to be implemented at the cylinder level without regard to the external motion of the robot. Experimental tests were performed to compare the presented reference-frame-independent EKF method to a standard kinematically dependent end-effector EKF. When kinematic knowledge of the end effector is known, both standard and presented methods perform well as expected. However, removing kinematic knowledge of the local reference frame adversely affects the performance of a standard kinematically dependent EKF, but does not affect the performance of the presented method as it does not depend on such global kinematic knowledge. Experimental results also show that the addition of a direct relative velocity measurement does not significantly improve performance over the presented method.
机译：本文提出了一种新颖的三轴单轴加速度计配置，用于测量运动参考框架中的相对加速度，而无需了解运动框架本身的运动或方向。还介绍了扩展卡尔曼滤波器（EKF），该滤波器将这种相对加速度测量与线性位置测量相结合以进行状态估计。这种方法的动机是在气缸控制中需要高质量的线性状态估计，但是这种方法的潜在应用范围更广，包括移动机器人和一般的相对线性状态检测。当应用于气压缸时，此方法无需了解缸底的运动学知识，并且可以在缸级执行状态估计，而无需考虑机器人的外部运动。进行了实验测试，以比较提出的与参考系无关的EKF方法与标准的与运动学相关的末端执行器EKF。当了解末端执行器的运动学知识时，标准方法和提出的方法均能达到预期的效果。但是，删除局部参考系的运动学知识会对标准运动学依赖的EKF的性能产生不利影响，但不会影响所提出方法的性能，因为它不依赖于此类全局运动学知识。实验结果还表明，相比于所提出的方法，直接相对速度测量的添加不会显着改善性能。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号