Uncertainty in the estimation of end-effector acceleration and angular velocity for robotic manipulators
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Universidade Federal de Minas Gerais
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The uncertainty in the end-effector acceleration and angular velocity estimation from measured joint angles of a robotic manipulator is investigated by means of Monte Carlo simulations. The process measurement model includes various sources of errors such as non-uniform sampling rate, additive measurement noise and quantization associated with relative encoders. It is shown that, if some precautions are not taken, the idea of using a robotic manipulator to characterize Inertial Measurement Units (IMUs) can be jeopardized due to excessive uncertainty. A methodology is proposed aiming to minimize the influence of these error sources in the final estimation.
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Monte Carlo, Método de
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Acceleration, Angular velocity, Standards, Trajectory, Uncertainty, Manipulators, Robotic manipulator, Calibration, Monte Carlo Method, Expanded Uncertainty, Inertial Measurement Unit
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https://ieeexplore.ieee.org/document/7783540