Kalman Filter Based Calibration of Precision Motion Control

Venema, S. and Hannaford, B. (1995) Kalman Filter Based Calibration of Precision Motion Control. In: Proceedings of IROS-95.

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A method is described and validated for the automatic calibration of analog sine-wave quadrature sensors, such as optical encoders, embedded in a functioning system. The algorithm uses a Kalman filter to estimate the true position of the direct-drive actuated joint using a model of it's dynamics, an applied actuator command, and measurements from the uncalibrated sensor. From the estimated true position, a lookup table is constructed which corrects sensor errors. Our results indicate that this method achieve accuracies typical of interferometric calibration, without requiring an external measurement device. The accuracy is surprisingly robust to modeling errors.

Item Type: Conference or Workshop Item (Paper)
Subjects: C Surgical Robots > CA Robotic Control
Z Other
Divisions: Department of Electrical Engineering
Depositing User: Danying Hu
Date Deposited: 07 Jul 2015 21:28
Last Modified: 07 Jul 2015 21:28
URI: http://brl.ee.washington.edu/eprints/id/eprint/90

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