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Modeling and Estimation Topics in Robotics

Bagge Carlson, Fredrik LU (2017)
Abstract
The field of robotics offers a wide array of estimation problems, ranging from kinematic and dynamic calibration to pose estimation and computer vision. This thesis presents a set of methods to solve estimation problems encountered in robotics, with an emphasis on industrial robotics. The researched topics are all practically motivated and have found immediate use in applications.

Industrial robotics often require high accuracy in the control of the tool position, applied forces etc. This thesis presents a set of methods to solve commonly encountered estimation problems, including accurate friction estimation, spectral analysis of disturbances in electrical motors, kinematic calibration and pose estimation under the influence of... (More)
The field of robotics offers a wide array of estimation problems, ranging from kinematic and dynamic calibration to pose estimation and computer vision. This thesis presents a set of methods to solve estimation problems encountered in robotics, with an emphasis on industrial robotics. The researched topics are all practically motivated and have found immediate use in applications.

Industrial robotics often require high accuracy in the control of the tool position, applied forces etc. This thesis presents a set of methods to solve commonly encountered estimation problems, including accurate friction estimation, spectral analysis of disturbances in electrical motors, kinematic calibration and pose estimation under the influence of high external forces.

Common themes among the articles, such as the linear least-squares procedure, are introduced in greater detail in the beginning of the thesis for the uninitiated reader. (Less)
Please use this url to cite or link to this publication:
author
supervisor
organization
publishing date
type
Thesis
publication status
published
subject
keywords
System Identification, Robotics, Spectral estimation, Calibration, State estimation
pages
92 pages
publisher
Department of Automatic Control, Lund Institute of Technology, Lund University
language
English
LU publication?
yes
id
86e2ae2d-4d11-4eac-bc42-ca1d474cc61d
date added to LUP
2017-03-09 17:52:37
date last changed
2017-03-14 10:33:55
@misc{86e2ae2d-4d11-4eac-bc42-ca1d474cc61d,
  abstract     = {The field of robotics offers a wide array of estimation problems, ranging from kinematic and dynamic calibration to pose estimation and computer vision. This thesis presents a set of methods to solve estimation problems encountered in robotics, with an emphasis on industrial robotics. The researched topics are all practically motivated and have found immediate use in applications.<br/><br/>Industrial robotics often require high accuracy in the control of the tool position, applied forces etc. This thesis presents a set of methods to solve commonly encountered estimation problems, including accurate friction estimation, spectral analysis of disturbances in electrical motors, kinematic calibration and pose estimation under the influence of high external forces.<br/><br/>Common themes among the articles, such as the linear least-squares procedure, are introduced in greater detail in the beginning of the thesis for the uninitiated reader.},
  author       = {Bagge Carlson, Fredrik},
  keyword      = {System Identification,Robotics,Spectral estimation,Calibration,State estimation},
  language     = {eng},
  month        = {03},
  note         = {Licentiate Thesis},
  pages        = {92},
  publisher    = {Department of Automatic Control, Lund Institute of Technology, Lund University},
  title        = {Modeling and Estimation Topics in Robotics},
  year         = {2017},
}