State Estimation of Over-Sensored Systems Applied to a Low-Cost Robotic Manipulator

• Type: Article in International Scientific Journal
• Date: 2021

Authors

João Moreira (Author) Other; Vítor H. Pinto (Author) FEUP; José Gonçalves (Author) Other; Paulo Gomes da Costa (Author) FEUP

Journal

Title: Applied Sciences

Vol. 11

Pages: 1-2519

Publisher: MDPI

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 0 Citations

Other information

Authenticus ID: P-00T-K86

DOI: 10.3390/app11062519

Abstract (EN): There is an increasing demand for robotic manipulators to perform more complex and versatile tasks. In order to fulfill this need, expeditious calibration and estimation techniques are required as a first step for the correct usage of the manipulator. This article aims at finding a subset of these algorithms that could be used in a generic manipulator and should allow for its prompt use. Two models for the representation of the pose of the manipulator are described and used in the state estimation problem. The results of the implementation are tested, and some performance metrics are obtained.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 30