Modeling and Estimation Topics in Robotics

Detta är en avhandling från Department of Automatic Control, Lund Institute of Technology, Lund University

Sammanfattning: The field of robotics offers a wide array of estimation problems, ranging from kinematic and dynamic calibration to pose estimation and computer vision. This thesis presents a set of methods to solve estimation problems encountered in robotics, with an emphasis on industrial robotics. The researched topics are all practically motivated and have found immediate use in applications.Industrial robotics often require high accuracy in the control of the tool position, applied forces etc. This thesis presents a set of methods to solve commonly encountered estimation problems, including accurate friction estimation, spectral analysis of disturbances in electrical motors, kinematic calibration and pose estimation under the influence of high external forces.Common themes among the articles, such as the linear least-squares procedure, are introduced in greater detail in the beginning of the thesis for the uninitiated reader.