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Improving the accuracy of a vibratory sensor using Kalman filtering

Published online by Cambridge University Press:  09 March 2009

D.T. Pham  and
K. Hafeez
D.T. Pham
Affiliation:
Automation and Robotics Centre, School of Electrical, Electronic and Systems Engineering, University of Wales College of Cardiff, P.O. Box 904, Cardiff, CF1 3YH(U.K.)
K. Hafeez
Affiliation:
Automation and Robotics Centre, School of Electrical, Electronic and Systems Engineering, University of Wales College of Cardiff, P.O. Box 904, Cardiff, CF1 3YH(U.K.)
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Summary

This paper presents a Kalman filtering technique for reducing errors in locating 3-D objects using a sensor system. The location information is employed to control the motion of an industrial robot to pick up the objects. The sensor consists of a rigid platform mounted on a flexible column. Each object to be located is placed on the sensor. The static deflections and natural frequencies of vibrations of the sensor are measured and processed to determine the position and orientation of the object. In practice, the sensor signals obtained are corrupted with noise leading to errors in location determination. A Kalman filter is used to reduce the noise present in the sensor system.

Keywords

Kalman filteringRobot sensorsParts feedingBin picking
Type
Research Article
Information
Robotica , Volume 11 , Issue 2 , March 1993 , pp. 129 - 138
Copyright
Copyright © Cambridge University Press 1993

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