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End-Effector Pose Estimation in Complex Environments Using Complementary Enhancement and Adaptive Fusion of Multisensor

文献类型：期刊论文

作者Luo, Mingrui1,4; Li, En4; Guo, Rui2; Liu, Jiaxin3; Liang, Zize4
刊名JOURNAL OF SENSORS
出版日期2021-04-16
卷号2021页码:18
ISSN号1687-725X
DOI10.1155/2021/5550850
通讯作者Li, En(en.li@ia.ac.cn)
英文摘要Redundant manipulators are suitable for working in narrow and complex environments due to their flexibility. However, a large number of joints and long slender links make it hard to obtain the accurate end-effector pose of the redundant manipulator directly through the encoders. In this paper, a pose estimation method is proposed with the fusion of vision sensors, inertial sensors, and encoders. Firstly, according to the complementary characteristics of each measurement unit in the sensors, the original data is corrected and enhanced. Furthermore, an improved Kalman filter (KF) algorithm is adopted for data fusion by establishing the nonlinear motion prediction of the end-effector and the synchronization update model of the multirate sensors. Finally, the radial basis function (RBF) neural network is used to adaptively adjust the fusion parameters. It is verified in experiments that the proposed method achieves better performances on estimation error and update frequency than the original extended Kalman filter (EKF) and unscented Kalman filter (UKF) algorithm, especially in complex environments.
WOS关键词DRIVEN PARALLEL ROBOTS ; KINEMATICS ; SYSTEM ; MANIPULATORS ; LOAD
资助项目National Key R&D Program of China[2018YFB1307400] ; National Natural Science Foundation of China[61873267]
WOS研究方向Engineering ; Instruments & Instrumentation
语种英语
WOS记录号WOS:000646709200002
出版者HINDAWI LTD
资助机构National Key R&D Program of China ; National Natural Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/44636]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Li, En
作者单位1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
2.State Grid Shandong Elect Power Co, Jinan, Peoples R China
3.State Grid Liaoning Elect Power Co Ltd, Shenyang, Peoples R China
4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Luo, Mingrui,Li, En,Guo, Rui,et al. End-Effector Pose Estimation in Complex Environments Using Complementary Enhancement and Adaptive Fusion of Multisensor[J]. JOURNAL OF SENSORS,2021,2021:18.
APA Luo, Mingrui,Li, En,Guo, Rui,Liu, Jiaxin,&Liang, Zize.(2021).End-Effector Pose Estimation in Complex Environments Using Complementary Enhancement and Adaptive Fusion of Multisensor.JOURNAL OF SENSORS,2021,18.
MLA Luo, Mingrui,et al."End-Effector Pose Estimation in Complex Environments Using Complementary Enhancement and Adaptive Fusion of Multisensor".JOURNAL OF SENSORS 2021(2021):18.

入库方式： OAI收割

来源：自动化研究所

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