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- Title
Sensor Fusion for Position Estimation in Robot-based Laser Material Processing.
- Authors
Walderich, Philipp; Gorissen, Leon; Kaster, Thomas; Hinke, Christian
- Abstract
This paper investigates an Extended Kalman Filter (EKF) based Sensor Fusion approach for robot tool center point (TCP) position estimation using a sensing unit consisting of multiple sensors. Data from an inertial measurement unit, axis encoders and two new optical sensors for relative speed estimation in the context of laser material processing is recorded. Performance of the approach is tested experimentally. Three different test trajectories are chosen to evaluate estimation performance, including an adaption of ISO 9283 trajectory for robot accuracy. Estimation results are compared to position measurements of a Laser Tracker system with measurement accuracy of +-28µm and position estimation of the robot controller of the used Universal Robots UR5e.
- Subjects
MANUFACTURING processes; SENSOR placement; OPTICAL sensors; POSITION sensors; LASER measurement; LASERS; TRITIUM
- Publication
Journal of Laser Micro / Nanoengineering, 2024, Vol 19, Issue 1, p79
- ISSN
1880-0688
- Publication type
Article
- DOI
10.2961/jlmn.2024.01.2013