Uncertainty in the estimation of end-effector acceleration and angular velocity for robotic manipulators

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dc.creatorJoão Carlos Oliveira Pena
dc.creatorLeonardo Antônio Borges Tôrres
dc.date.accessioned2024-10-23T16:50:24Z
dc.date.accessioned2025-09-09T01:02:06Z
dc.date.available2024-10-23T16:50:24Z
dc.date.issued2016
dc.identifier.doi10.1109/LARS-SBR.2016.54
dc.identifier.issn2835-9003
dc.identifier.urihttps://hdl.handle.net/1843/77598
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofLatin American Robotics Symposium and IV Brazilian Robotics Symposium
dc.rightsAcesso Restrito
dc.subjectMonte Carlo, Método de
dc.subject.otherAcceleration
dc.subject.otherAngular velocity
dc.subject.otherStandards
dc.subject.otherTrajectory
dc.subject.otherUncertainty
dc.subject.otherManipulators
dc.subject.otherRobotic manipulator
dc.subject.otherCalibration
dc.subject.otherMonte Carlo Method
dc.subject.otherExpanded Uncertainty
dc.subject.otherInertial Measurement Unit
dc.titleUncertainty in the estimation of end-effector acceleration and angular velocity for robotic manipulators
dc.typeArtigo de evento
local.citation.epage286
local.citation.issue2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR)
local.citation.spage281
local.description.resumoThe 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/7783540

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