Analysis of control and correction options of mobile robot trajectory by an inertial navigation system

被引：42

作者：

Pivarciova, Elena ^{[1
]}

Bozek, Pavol ^{[2
]}

Turygin, Yuri ^{[3
]}

Zajacko, Ivan ^{[4
]}

Shchenyatsky, Aleksey ^{[3
]}

Vaclav, Stefan ^{[5
]}

Cisar, Miroslav ^{[4
]}

Gemela, Boris ^{[6
]}

机构：

[1] Tech Univ Zvolen, Fac Environm & Mfg Technol, Dept Mfg & Automat Technol, Studentska 26, Zvolen 96053, Slovakia

[2] Slovak Univ Technol Bratislava, Inst Prod Technol, Fac Mat Sci & Technol Trnava, Bratislava, Slovakia

[3] Kalashnikov Izhevsk State Tech Univ, Fac Qual Management, Dept Mechatron Syst, Izhevsk, Russia

[4] Univ Zilina, Dept Automat & Prod Syst, Fac Mech Engn, Zilina, Slovakia

[5] Slovak Univ Technol, Inst Prod Technol, Fac Mat Sci & Technol, Trnava, Slovakia

[6] E GO Sro, Trnava, Slovakia

来源：

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2018年 / 15卷 / 01期

关键词：

Inertial navigation system; trajectory; robot; AL5B; x-IMU;

D O I：

10.1177/1729881418755165

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The article deals with the research of the supplementation of industrial robot effector trajectory's control systems by an inertial navigation system. The method of reverse validation and location of an object in a navigated reference system does not require additional calibration. The goal of the research is to verify the assumption that it is possible to control and correct the programmed mobile robot trajectory by implementing an inertial navigation system even in a case when the inertial navigation system is used as the only trajectory control device. The data obtained are processed by the proposed and detailed application.

引用

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