Acceleration Bias Drift Observer for Industrial Robots with an Accelerometer and Its Applications

摘要

The feedback of load-side acceleration is an effective method in the control of a two-inertia system. The load-side acceleration is generally obtained using an acceleration sensor. However, the bias drift of the sensor poses problems. Under an acceleration sensor bias, the velocity response experiences drift phenomena caused by sensor bias. In this paper, an observer that estimates the bias of the load-side acceleration sensor is designed. The proposed observer is evaluated using proportional velocity control. As an application, the proposed observer was applied to the load-side acceleration control, and it compensated for the effect of the acceleration sensor bias. Its effectiveness was verified through simulations and experiments.