TY - JOUR A2 - Gyftakis, Konstantinos N. AU - Elvira-Ortiz, David Alejandro AU - Romero-Troncoso, Rene de Jesus AU - Jaen-Cuellar, Arturo Yosimar AU - Morales-Velazquez, Luis AU - Osornio-Rios, Roque Alfredo PY - 2016 DA - 2016/03/30 TI - Vibration Suppression for Improving the Estimation of Kinematic Parameters on Industrial Robots SP - 6954012 VL - 2016 AB - 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. SN - 1070-9622 UR - https://doi.org/10.1155/2016/6954012 DO - 10.1155/2016/6954012 JF - Shock and Vibration PB - Hindawi Publishing Corporation KW - ER -