Hardware-software embedded module for position correction of the telescope control system
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 2 ] Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] pracownik | [ SzD ] doktorant ze Szkoły Doktorskiej
2022
artykuł naukowy
angielski
- position error compensation
- position estimation
- FPGA
- embedded systems
EN This paper presents a novel position measurement correction technique designed for robotic systems equipped with redundant positional sensors. This method takes advantage of information from multiple sensors in the way to determine the estimated value of sensor relative positions, which is then used in correction procedure. The proposed procedure does not require any feedback on the correctness of the position sensor reading, as it is able to estimate it itself. Thanks to this approach, it is possible to reduce the uncertainty of the joint position reading in the presence of the measurement noise. Additional advantage of the procedure creates the flexibility of the algorithm, which makes it possible to implement in software (CPU) and hardware (FPGA). These types of implementations are also discussed along with analysis of experimental data measured in a custom telescope system.
23.11.2022
385 - 394
70
1,2