Joint-Space Kinematic Model for Gravity-Referenced Joint Angle Estimation of Heavy-Duty Manipulators

@article{Vihonen2017JointSpaceKM,
  title={Joint-Space Kinematic Model for Gravity-Referenced Joint Angle Estimation of Heavy-Duty Manipulators},
  author={Juho Vihonen and Jouni Mattila and Ari Visa},
  journal={IEEE Transactions on Instrumentation and Measurement},
  year={2017},
  volume={66},
  pages={3280-3288}
}
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 connecting two links without relying on the full forward kinematics. For a low-noise, low-delay… CONTINUE READING

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