Modeling and Estimation Topics in Robotics

Fredrik Bagge Carlson

Modeling and Estimation Topics in Robotics

Fredrik Bagge Carlson

Research output: Thesis › Licentiate Thesis

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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.

Original language	English
Qualification	Licentiate
Awarding Institution	Department of Automatic Control
Supervisors/Advisors	Johansson, Rolf, Supervisor Robertsson, Anders, Supervisor
Award date	2017 Mar 10
Publisher	Department of Automatic Control, Lund Institute of Technology, Lund University
Publication status	Published - 2017 Mar 10

Bibliographical note

Series Information:
Publication Series: Licentiate Theses
ISSN 0280-5316
Number TFRT-3272

Subject classification (UKÄ)

Robotics and automation

Free keywords

System Identification
Robotics
Spectral estimation
Calibration
State estimation

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lic_bagge_carlsonFinal published version, 2.94 MBLicence: Unspecified

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
Flexifab
Robertsson, A. (Researcher), Bagge Carlson, F. (Researcher), Johansson, R. (Researcher) & Karlsson, M. (Researcher)
2014/01/01 → 2016/12/31
Project: Research
LCCC
Holmqvist, A. (Researcher), Andersson, N. (Researcher), Cervin, A. (Researcher), Mannesson, A. (Researcher), Gattami, A. (Researcher), Ghulchak, A. (Researcher), Papadopoulos, A. V. (Researcher), Rantzer, A. (Researcher), Robertsson, A. (Researcher), Sootla, A. (Researcher), THEORIN, A. (Researcher), Bernhardsson, B. (Researcher), Olofsson, B. (Researcher), Wittenmark, B. (Researcher), Grussler, C. (Researcher), Johnsson, C. (Researcher), MADJIDIAN, D. (Researcher), Johannesson, E. (Researcher), Magnusson, F. (Researcher), Ståhl, F. (Researcher), Como, G. (Researcher), Chasparis, G. (Researcher), Turesson, G. (Researcher), Dressler, I. (Researcher), Åkesson, J. (Researcher), Cho, J. H. (Researcher), Årzén, K.-E. (Researcher), Åström, K. J. (Researcher), Sou, K. C. (Researcher), Mårtensson, K. (Researcher), Berntorp, K. (Researcher), Soltesz, K. (Researcher), Lessard, L. (Researcher), Hast, M. (Researcher), Rönn, M. (Researcher), Ansbjerg Kjær, M. (Researcher), Maggio, M. (Researcher), Kristalny, M. (Researcher), Garpinger, O. (Researcher), From, P. J. (Researcher), Larsson, P.-O. (Researcher), Giselsson, P. (Researcher), Johansson, R. (Researcher), Hägglund, T. (Researcher), Vladimerou, V. (Researcher), Romero Segovia, V. (Researcher), Aurelius, A. (Researcher), Cedersjö, G. (Researcher), Bür, K. (Researcher), Dellkrantz, M. (Researcher), Du, M. (Researcher), Amani, P. (Researcher), Larsson, R. (Researcher), Tärneberg, W. (Research student), Li, Z. (Researcher), Yin, L. (Researcher), Tufvesson, F. (Researcher), Höst, S. (Researcher), Nilsson, B. (Researcher), Stenström, S. (Researcher), Andersson, J. A. (Researcher), Diehl, S. (Researcher), Dürango, J. (Researcher), Ghazaei Ardakani, M. (Researcher), Forsberg, P.-O. (Researcher), Bengtsson, F. (Researcher), Jörntell, H. (Researcher), Arévalo, C. (Researcher), Führer, C. (Researcher), Andersson, C. (Researcher), Mohammadi, F. (Researcher), Ödling, P. (Researcher), Andersson, M. (Researcher), Kihl, M. (Researcher) & Tunestål, P. (Researcher)
2008/07/01 → 2018/06/30
Project: Research

Cite this

@phdthesis{86e2ae2d4d114eacbc42ca1d474cc61d,

title = "Modeling and Estimation Topics in Robotics",

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.",

keywords = "System Identification, Robotics, Spectral estimation, Calibration, State estimation",

author = "\{Bagge Carlson\}, Fredrik",

note = "Series Information: Publication Series: Licentiate Theses ISSN 0280-5316 Number TFRT-3272 ",

year = "2017",

month = mar,

day = "10",

language = "English",

series = "Research Reports TFRT-3272",

publisher = "Department of Automatic Control, Lund Institute of Technology, Lund University",

type = "Licentiate Thesis",

school = "Department of Automatic Control",

}

TY - THES

T1 - Modeling and Estimation Topics in Robotics

AU - Bagge Carlson, Fredrik

N1 - Series Information: Publication Series: Licentiate Theses ISSN 0280-5316 Number TFRT-3272

PY - 2017/3/10

Y1 - 2017/3/10

N2 - 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.

AB - 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.

KW - System Identification

KW - Robotics

KW - Spectral estimation

KW - Calibration

KW - State estimation

M3 - Licentiate Thesis

T3 - Research Reports TFRT-3272

PB - Department of Automatic Control, Lund Institute of Technology, Lund University

ER -

Modeling and Estimation Topics in Robotics

Abstract

Bibliographical note

Subject classification (UKÄ)

Free keywords

Access to Document

Fingerprint

Projects

SARAFun: SARAFun—Smart Assembly Robot with Advanced FUNctionalities

Flexifab

LCCC

Cite this