Projects per year
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 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.
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.
| Original language | English |
|---|---|
| Qualification | Licentiate |
| Awarding Institution |
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| Supervisors/Advisors |
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| Award date | 2017 Mar 10 |
| Publisher | |
| Publication status | Published - 2017 Mar 10 |
Bibliographical note
Series Information:Publication Series: Licentiate Theses
ISSN 0280-5316
Number TFRT-3272
Subject classification (UKÄ)
- Robotics
Free keywords
- System Identification
- Robotics
- Spectral estimation
- Calibration
- State estimation
Fingerprint
Dive into the research topics of 'Modeling and Estimation Topics in Robotics'. Together they form a unique fingerprint.Projects
- 2 Finished
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SARAFun: SARAFun—Smart Assembly Robot with Advanced FUNctionalities
Johansson, R. (PI), Nilsson, K. (PI), Bagge Carlson, F. (Research student), Haage, M. (Researcher), Karlsson, M. (Research student), Malec, J. (Researcher), Robertsson, A. (Researcher), Stenmark, M. (Research student) & Topp, E. A. (Researcher)
2015/03/01 → 2018/02/28
Project: Research
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Flexifab
Robertsson, A. (Researcher), Bagge Carlson, F. (Researcher), Johansson, R. (Researcher) & Karlsson, M. (Researcher)
2014/01/01 → 2016/12/31
Project: Research