Evaluation of six different sensor fusion methods for an industrial robot using experimental data

This paper summarizes previous work on tool position esti-mation on industrial manipulators, and emphasize the prob-lems that must be taken care of in order to get a satisfied result. The acceleration of the robot tool, measured by an accelerometer, togheter with measurements of motor angles are used. The states are estimated with an extended kalman filter. A method for tuning the covariance matrices for the noise, used in the observer, is suggested. The work has been focused on a robot with two degrees of freedom.