FPGA-Based Fused Smart Sensor for Dynamic and Vibration Parameter Extraction in Industrial Robot Links

Rodriguez-Donate, Carlos; Morales-Velazquez, Luis; Osornio-Ríos, Roque Alfredo; Herrera-Ruíz, Gilberto; Romero-Troncoso, René de Jesús

doi:10.3390/s100404114

Cited by 24 publications

(21 citation statements)

References 32 publications

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“…However, the generated cumulative errors reduce the accuracy of the estimation along the time [16]. Finally, accelerometers are capable to provide information about the monitored robotic system in the form of linear acceleration, vibrations and attitude information using the constant gravity vector [11,15,18]. In all cases, optical encoders, gyroscopes and accelerometers have advantages and disadvantages for the information extraction from each joint in serial robots.…”

Section: Robot Kinematicsmentioning

confidence: 99%

“…Concerning to this problem, researches propose sensor fusion techniques that attempts to improve the controller feedback. In [11], encoder and accelerometer information is fused through a combined technique of oversampling and average decimation filtering. Angular position, velocity, acceleration and jerk are estimated for single joint in a serial robot.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Sensor Fusion for Joint Kinematic Estimation in Serial Robots Using Encoder, Accelerometer and Gyroscope

Munoz-Barron

Rivera-Guillen

Osornio-Ríos

et al. 2014

J Intell Robot Syst

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Open-chain manipulator robots play an important role in the industry, since they are utilized in applications requiring precise motion. Highperformance motion of a robot system mainly relies on adequate trajectory planning and the controller that coordinates the movement. The controller performance depends of both, the employed control law and the sensor feedback. Optical encoder feedback is the most used sensor for angular position estimation of each joint in the robot, since they feature accurate and low noise angular position measurements. However, it cannot detect mechanical imperfections and deformations common in open chain robots. Moreover, velocity and acceleration cannot be extracted from the encoder data without adding phase delays. Sensor fusion techniques are found to be a good solution for solving this problem. However, few works has been carried out in serial robots for kinematic estimation of angular position, velocity and acceleration, since the delays induced by the filtering techniques avoids its use as controller feedback. This work proposes a novel sensor-fusion-based feedback system capable of providing complete kinematic information from each joint in 4-degrees of freedom serial robot, with the contribution of a proposed methodology based on Kalman filtering for fusing the information from optical encoder, gyroscope and accelerometer appended to the robot. Calibration and experimentation are carried out for validating the proposal. The results are compared with another kinematic estimation technique finding that this proposal provides more information about the robot movement without adding state delays, which is important for being used as controller feedback.

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Section: Robot Kinematicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Sensor Fusion for Joint Kinematic Estimation in Serial Robots Using Encoder, Accelerometer and Gyroscope

Munoz-Barron

Rivera-Guillen

Osornio-Ríos

et al. 2014

J Intell Robot Syst

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“…Many researchers have reported on photothermal experiments employing commercial LIAs, but most of them only used basic functions [8,9,10,11,12,13,14,15,16,17]. …”

Section: Introductionmentioning

confidence: 99%

Dual-Phase Lock-In Amplifier Based on FPGA for Low-Frequencies Experiments

Macías-Bobadilla

Rodríguez‐Reséndiz

Mota-Valtierra

et al. 2016

Sensors

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Photothermal techniques allow the detection of characteristics of material without invading it. Researchers have developed hardware for some specific Phase and Amplitude detection (Lock-In Function) applications, eliminating space and unnecessary electronic functions, among others. This work shows the development of a Digital Lock-In Amplifier based on a Field Programmable Gate Array (FPGA) for low-frequency applications. This system allows selecting and generating the appropriated frequency depending on the kind of experiment or material studied. The results show good frequency stability in the order of 1.0 × 10−9 Hz, which is considered good linearity and repeatability response for the most common Laboratory Amplitude and Phase Shift detection devices, with a low error and standard deviation.

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“…The solutions mentioned so far use only one sensor. On the other hand, sensor fusion is being used to obtain more accurate results because it tries to compensate for the problems and mistakes from a single sensor with the information provided by different sensors [2,[9][10][11]. Although all these techniques yield favorable results, they still can be improved.…”

Section: Introductionmentioning

confidence: 99%

“…Current researches reported in literature point out that the encoder in servomotors and the accelerometer are two of the most widely used sensors for monitoring motion dynamics and vibrations on computerized numeric control (CNC) machines and robotic manipulator arms [9]. The accelerometer is used to measure the inclination or angular position of several CNC and robotics systems [2,[9][10][11][12][13]. Nevertheless, accelerometers have been also used for monitoring vibrations in many structures like bridges [14], washing machines [15], CNC machines [16], and industrial robots [9].…”

Section: Introductionmentioning

confidence: 99%

Vibration Suppression for Improving the Estimation of Kinematic Parameters on Industrial Robots

Elvira-Ortiz

Romero-Troncoso

Jaen-Cuéllar

et al. 2016

Shock and Vibration

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Vibration is a phenomenon that is present on every industrial system such as CNC machines and industrial robots. Moreover, sensors used to estimate angular position of a joint in an industrial robot are severely affected by vibrations and lead to wrong estimations. This paper proposes a methodology for improving the estimation of kinematic parameters on industrial robots through a proper suppression of the vibration components present on signals acquired from two primary sensors: accelerometer and gyroscope. A Kalman filter is responsible for the filtering of spurious vibration. Additionally, a sensor fusion technique is used to merge information from both sensors and improve the results obtained using each sensor separately. The methodology is implemented in a proprietary hardware signal processor and tested in an ABB IRB 140 industrial robot, first by analyzing the motion profile of only one joint and then by estimating the path tracking of two welding tasks: one rectangular and another one circular. Results from this work prove that the sensor fusion technique accompanied by proper suppression of vibrations delivers better estimation than other proposed techniques.

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FPGA-Based Fused Smart Sensor for Dynamic and Vibration Parameter Extraction in Industrial Robot Links

Cited by 24 publications

References 32 publications

Sensor Fusion for Joint Kinematic Estimation in Serial Robots Using Encoder, Accelerometer and Gyroscope

Sensor Fusion for Joint Kinematic Estimation in Serial Robots Using Encoder, Accelerometer and Gyroscope

Dual-Phase Lock-In Amplifier Based on FPGA for Low-Frequencies Experiments

Vibration Suppression for Improving the Estimation of Kinematic Parameters on Industrial Robots

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