Paper Info
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 conn...
Year
DOI
Venue
2017
10.1109/TIM.2017.2749918
IEEE Transactions on Instrumentation and Measurement
Keywords
Field
DocType
Kinematics,Manipulators,Accelerometers,Robot sensing systems,Microelectromechanical devices,Gyroscopes
Inertial frame of reference,Kinematics,Inverse kinematics,Accelerometer,Control theory,Kalman filter,Control engineering,Forward kinematics,Kinematic chain,Mathematics,Cartesian coordinate system
Journal
Volume
Issue
ISSN
66
12
0018-9456
Citations 
PageRank 
References 
4
0.47
23
Authors
3
Name
Order
Citations
PageRank
Juho Vihonen1257.49
Jouni Mattila26920.68
Ari Visa357857.54