中国机械工程Issue(10)：1312-1316,5.DOI:10.3969/j.issn.1004-132X.2014.10.008
基于UKF的机器人末端执行器位姿实时估算方法
Real-Time Pose Estimation for Industrial Robot End Effector Based on UKF
摘要
Abstract
To estimate the pose of industrial robot end effector quickly and accurately,a real-time estimation method was proposed based on UKF.This method was applied to industrial robot with la-ser feedback control system.In the industrial robot moving process,a rough estimation value of end ef-fector pose was acquired by using forward position analysis and kinematics parameters of industrial ro-bot in real time.And the position of a measured point fixed on end effector was obtained by a laser tracker.Then,UKF was employed to integrate the previous rough estimation value and the measured point position.The accurate pose of industrial robot end effector was evaluated by utilizing this meth-od.Computer simulation results show that the presented method is achieved easily,and has fast calcu-lation and high accuracy.关键词
工业机器人/UKF/数据融合/激光跟踪仪Key words
industrial robot/unscented Kalman filter(UKF)/data fusion/laser tracker分类
信息技术与安全科学引用本文复制引用
项筱洁,何庆稀,应征..基于UKF的机器人末端执行器位姿实时估算方法[J].中国机械工程,2014,(10):1312-1316,5.基金项目
国家高技术研究发展计划(863计划)资助重大项目(2011AA04A101) （863计划）
