Estimation of camera-space manipulation parameters by means of an extended Kalman filter: Applications to parallel robots Article Swipe
Alejandro González
,
Emilio J. González-Galván
,
Mauro Maya
,
Antonio Cárdenas
,
Davide Piovesan
·
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.1177/1729881419842987
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.1177/1729881419842987
Parallel robots have a growing range of applications due to their appealing characteristics (high speed and acceleration, increased rigidity, etc.). However, several open problems make it difficult to model and control them. Low computational-cost algorithms are needed for high speed tasks where high accelerations are required. This article develops the nonlinear camera-space manipulation method and makes use of an extended Kalman filter (EKF) for the estimation of the camera-space manipulation parameters. This is presented as an alternative to the traditional method which can be time consuming while reaching convergence. The proposed camera-space manipulation parameter identification was performed in positioning tasks for a parallel manipulator and the experimental results are reported. Results show that it is possible to estimate the set of camera-space manipulation parameters by means of an extended Kalman filter. Using the proposed Kalman filter method we observed a significant reduction of the computational effort when estimating the camera-space manipulation parameters. However, there was no significant reduction of the robot’s positioning error. The proposed extended Kalman filter implementation requires only 2 ms to update the camera-space manipulation parameters compared to the 85 ms required by the traditional camera-space manipulation algorithm. Such time reduction is beneficial for the implementation of the method for a wide range of high speed and industrial applications. This article presents a novel use of an extended Kalman filter for the real-time estimation of the camera-space manipulation parameters and shows that it can be used to increase the positioning accuracy of a parallel robot.
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Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1177/1729881419842987
- https://journals.sagepub.com/doi/pdf/10.1177/1729881419842987
- OA Status
- gold
- Cited By
- 4
- References
- 41
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2941846965
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W2941846965Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.1177/1729881419842987Digital Object Identifier
- Title
-
Estimation of camera-space manipulation parameters by means of an extended Kalman filter: Applications to parallel robotsWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2019Year of publication
- Publication date
-
2019-03-01Full publication date if available
- Authors
-
Alejandro González, Emilio J. González-Galván, Mauro Maya, Antonio Cárdenas, Davide PiovesanList of authors in order
- Landing page
-
https://doi.org/10.1177/1729881419842987Publisher landing page
- PDF URL
-
https://journals.sagepub.com/doi/pdf/10.1177/1729881419842987Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://journals.sagepub.com/doi/pdf/10.1177/1729881419842987Direct OA link when available
- Concepts
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Computer science, Kalman filter, Extended Kalman filter, Computer vision, Artificial intelligence, Reduction (mathematics), Filter (signal processing), Acceleration, Robot, Control theory (sociology), Mathematics, Geometry, Control (management), Classical mechanics, PhysicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
4Total citation count in OpenAlex
- Citations by year (recent)
-
2023: 1, 2022: 1, 2021: 2Per-year citation counts (last 5 years)
- References (count)
-
41Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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| referenced_works | https://openalex.org/W2061672697, https://openalex.org/W2201111320, https://openalex.org/W1988087578, https://openalex.org/W2025973021, https://openalex.org/W2020401688, https://openalex.org/W2169826534, https://openalex.org/W2124535811, https://openalex.org/W2150382645, https://openalex.org/W2074656768, https://openalex.org/W2092210922, https://openalex.org/W2036832474, https://openalex.org/W1986027544, https://openalex.org/W1970630284, https://openalex.org/W2121392534, https://openalex.org/W2037912823, https://openalex.org/W2064275246, https://openalex.org/W2886169134, https://openalex.org/W2015515047, https://openalex.org/W2098326214, https://openalex.org/W2121367199, https://openalex.org/W2163061078, https://openalex.org/W2519973465, https://openalex.org/W1974174637, https://openalex.org/W2047448918, https://openalex.org/W4251147723, https://openalex.org/W2088115584, https://openalex.org/W2790374560, https://openalex.org/W2502569300, https://openalex.org/W2160342682, https://openalex.org/W2045580537, https://openalex.org/W2147202235, https://openalex.org/W2252725377, https://openalex.org/W4365800068, https://openalex.org/W1566405224, https://openalex.org/W4244980046, https://openalex.org/W4234552385, https://openalex.org/W4254629600, https://openalex.org/W4246318039, https://openalex.org/W2485201690, https://openalex.org/W4255438484, https://openalex.org/W2122512809 |
| referenced_works_count | 41 |
| abstract_inverted_index.2 | 171 |
| abstract_inverted_index.a | 3, 101, 139, 203, 215, 245 |
| abstract_inverted_index.85 | 182 |
| abstract_inverted_index.an | 58, 75, 127, 219 |
| abstract_inverted_index.as | 74 |
| abstract_inverted_index.be | 83, 237 |
| abstract_inverted_index.by | 124, 185 |
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| abstract_inverted_index.Low | 32 |
| abstract_inverted_index.The | 89, 163 |
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| abstract_inverted_index.model | 28 |
| abstract_inverted_index.novel | 216 |
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| abstract_inverted_index.shows | 233 |
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| abstract_inverted_index.while | 86 |
| abstract_inverted_index.Kalman | 60, 129, 134, 166, 221 |
| abstract_inverted_index.effort | 145 |
| abstract_inverted_index.error. | 162 |
| abstract_inverted_index.etc.). | 19 |
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| abstract_inverted_index.robot. | 247 |
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| abstract_inverted_index.Results | 110 |
| abstract_inverted_index.article | 47, 213 |
| abstract_inverted_index.control | 30 |
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| abstract_inverted_index.significant | 140, 156 |
| abstract_inverted_index.traditional | 79, 187 |
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| cited_by_percentile_year.min | 89 |
| corresponding_author_ids | https://openalex.org/A5101439131 |
| countries_distinct_count | 1 |
| institutions_distinct_count | 5 |
| citation_normalized_percentile.value | 0.64502447 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |