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Fused Smart Sensor Network for Multi-Axis Forward Kinematics Estimation in Industrial Robots
HSPdigital-CA Mecatronica, Facultad de Ingenieria, Universidad Autonoma de Queretaro, Campus San Juan del Rio, Rio Moctezuma 249, 76807 San Juan del Rio, Qro., Mexico
* Author to whom correspondence should be addressed.
Received: 9 March 2011; in revised form: 8 April 2011 / Accepted: 12 April 2011 / Published: 13 April 2011
Abstract: Flexible manipulator robots have a wide industrial application. Robot performance requires sensing its position and orientation adequately, known as forward kinematics. Commercially available, motion controllers use high-resolution optical encoders to sense the position of each joint which cannot detect some mechanical deformations that decrease the accuracy of the robot position and orientation. To overcome those problems, several sensor fusion methods have been proposed but at expenses of high-computational load, which avoids the online measurement of the joint’s angular position and the online forward kinematics estimation. The contribution of this work is to propose a fused smart sensor network to estimate the forward kinematics of an industrial robot. The developed smart processor uses Kalman filters to filter and to fuse the information of the sensor network. Two primary sensors are used: an optical encoder, and a 3-axis accelerometer. In order to obtain the position and orientation of each joint online a field-programmable gate array (FPGA) is used in the hardware implementation taking advantage of the parallel computation capabilities and reconfigurability of this device. With the aim of evaluating the smart sensor network performance, three real-operation-oriented paths are executed and monitored in a 6-degree of freedom robot.
Keywords: forward kinematics; sensor network; sensor fusion; FPGA; industrial robot
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Rodriguez-Donate, C.; Osornio-Rios, R.A.; Rivera-Guillen, J.R.; Romero-Troncoso, R.J. Fused Smart Sensor Network for Multi-Axis Forward Kinematics Estimation in Industrial Robots. Sensors 2011, 11, 4335-4357.
Rodriguez-Donate C, Osornio-Rios RA, Rivera-Guillen JR, Romero-Troncoso RJ. Fused Smart Sensor Network for Multi-Axis Forward Kinematics Estimation in Industrial Robots. Sensors. 2011; 11(4):4335-4357.
Rodriguez-Donate, Carlos; Osornio-Rios, Roque Alfredo; Rivera-Guillen, Jesus Rooney; Romero-Troncoso, Rene de Jesus. 2011. "Fused Smart Sensor Network for Multi-Axis Forward Kinematics Estimation in Industrial Robots." Sensors 11, no. 4: 4335-4357.