State estimation of over-sensored systems applied to a low-cost robotic manipulator

Detalhes bibliográficos
Autor(a) principal: Moreira, João
Data de Publicação: 2021
Outros Autores: Pinto, Vítor H., Gonçalves, José, Costa, Paulo Gomes da
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10198/24405
Resumo: 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.
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spelling State estimation of over-sensored systems applied to a low-cost robotic manipulatorState estimationRobotic manipulatorOver-sensoredAutomatic processMechatronicsThere 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.Biblioteca Digital do IPBMoreira, JoãoPinto, Vítor H.Gonçalves, JoséCosta, Paulo Gomes da2021-11-24T14:29:50Z20212021-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10198/24405engMoreira, João; Pinto, Vítor H.; Gonçalves, José; Costa, Paulo Gomes da (2021). State estimation of over-sensored systems applied to a low-cost robotic manipulator. Applied Sciences. ISSN 2076-3417. 11:6, p. 1-302076-341710.3390/app11062519info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-21T10:54:24Zoai:bibliotecadigital.ipb.pt:10198/24405Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T23:15:10.303190Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv State estimation of over-sensored systems applied to a low-cost robotic manipulator
title State estimation of over-sensored systems applied to a low-cost robotic manipulator
spellingShingle State estimation of over-sensored systems applied to a low-cost robotic manipulator
Moreira, João
State estimation
Robotic manipulator
Over-sensored
Automatic process
Mechatronics
title_short State estimation of over-sensored systems applied to a low-cost robotic manipulator
title_full State estimation of over-sensored systems applied to a low-cost robotic manipulator
title_fullStr State estimation of over-sensored systems applied to a low-cost robotic manipulator
title_full_unstemmed State estimation of over-sensored systems applied to a low-cost robotic manipulator
title_sort State estimation of over-sensored systems applied to a low-cost robotic manipulator
author Moreira, João
author_facet Moreira, João
Pinto, Vítor H.
Gonçalves, José
Costa, Paulo Gomes da
author_role author
author2 Pinto, Vítor H.
Gonçalves, José
Costa, Paulo Gomes da
author2_role author
author
author
dc.contributor.none.fl_str_mv Biblioteca Digital do IPB
dc.contributor.author.fl_str_mv Moreira, João
Pinto, Vítor H.
Gonçalves, José
Costa, Paulo Gomes da
dc.subject.por.fl_str_mv State estimation
Robotic manipulator
Over-sensored
Automatic process
Mechatronics
topic State estimation
Robotic manipulator
Over-sensored
Automatic process
Mechatronics
description 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.
publishDate 2021
dc.date.none.fl_str_mv 2021-11-24T14:29:50Z
2021
2021-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10198/24405
url http://hdl.handle.net/10198/24405
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv Moreira, João; Pinto, Vítor H.; Gonçalves, José; Costa, Paulo Gomes da (2021). State estimation of over-sensored systems applied to a low-cost robotic manipulator. Applied Sciences. ISSN 2076-3417. 11:6, p. 1-30
2076-3417
10.3390/app11062519
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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