Pr. Belanger et al., ESTIMATION OF ANGULAR VELOCITY AND ACCELERATION FROM SHAFT-ENCODER MEASUREMENTS, The International journal of robotics research, 17(11), 1998, pp. 1225-1233
Citations number
17
Categorie Soggetti
Robotics & Automatic Control","Robotics & Automatic Control
This paper suggests a Kalman-filter approach to the estimation of angu
lar velocity and acceleration from (quantized) shaft-encoder measureme
nts. Finite-difference estimates deteriorate as sampling rates are inc
reased. For small sampling periods, we show that the filtering problem
is the dual of the cheap control problem, and we justify the use of a
ll-integrator models. We investigate Kalman filtering with constant sa
mpling rate, and also with measurements triggered by encoder pulses. S
imulation and experimental results are given.