机器人接近传感的扩展卡尔曼滤波

[1991] Proceedings of the 30th IEEE Conference on Decision and Control Pub Date : 1991-12-11 DOI:10.1109/CDC.1991.261481

Y.F. Li, R. W. Daniel, P. Sharkey

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引用次数: 7

摘要

研究了在目标位置不确定的情况下，利用光纤接近传感器检测机器人末端执行器在接触任务中的定位误差问题。采用扩展卡尔曼滤波方法来解决非线性滤波问题。给出了一些实验结果。

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Extended Kalman filtering for robotic proximity sensing

The authors address the problems in using a fiber-optic proximity sensor to detect robot end-effector positioning errors in performing a contact task when uncertainties about target position exist. An extended Kalman filter approach is employed to solve the nonlinear filtering problem. Some experimental results are given.<>

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来源期刊

[1991] Proceedings of the 30th IEEE Conference on Decision and Control

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