State estimation of over-sensored systems applied to a low-cost robotic manipulator

Moreira, JoãoPinto, Vítor H.Gonçalves, JoséCosta, Paulo Gomes da2021-11-242021-11-242021Moreira, João; Pinto, Vítor H.; Gonçalves, José; Costa, Paulo Gomes da (2021). State estimation of over-sensored systems applied to a low-cost robotic manipulator. Applied Sciences. ISSN 2076-3417. 11:6, p. 1-302076-3417http://hdl.handle.net/10198/24405There is an increasing demand for robotic manipulators to perform more complex and versatile tasks. In order to fulfill this need, expeditious calibration and estimation techniques are required as a first step for the correct usage of the manipulator. This article aims at finding a subset of these algorithms that could be used in a generic manipulator and should allow for its prompt use. Two models for the representation of the pose of the manipulator are described and used in the state estimation problem. The results of the implementation are tested, and some performance metrics are obtained.engState estimationRobotic manipulatorOver-sensoredAutomatic processMechatronicsState estimation of over-sensored systems applied to a low-cost robotic manipulatorjournal article10.3390/app11062519