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1、Keywords:forwardkinematics;sensornetwork;sensorfusion;FPGA;industrialrobot1. Introduction Flexiblemanipulatorrobotshavewideindustrialapplications,withhandlingandmanufacturingoperationsbeingsomeofthemostcommon[1-3].High-precisionandhigh-accuracyinrobotoperation
2、srequirethestudyofrobotkinematics,dynamicsandcontrol[4].Theaimofforwardkinematicsistocomputethepositionandorientationoftherobotendeffectorasafunctionoftheangularpositionofeachjoint[1].Theonlineestimationoftheforwardkinematicscancontributetoimprovethecontroller
3、performancebyconsideringthejoints’motioncollectively.Therefore,theprecisionandaccuracyofsuchinformationisessentialtothecontrollerinordertoincreaseitsperformanceinrealroboticoperations.Commerciallyavailablemotioncontrollersuseasinglesensorforeachjointtoestimate
4、therobot’sangularposition;themostcommonsensoristheopticalencoder[5-11],whichprovidesahigh-resolutionfeedbacktothecontroller.However,itonlygivesinformationontheservomotorpositionandanydeformationscausedbyjointflexibilitiescannotbemonitored[6,12],decreasingthero
5、bot’saccuracy.Thisproblemismoreevidentinopen-chainrobots.Moreover,theprovidedinformationisrelative,whichmeansthatitisimpossibletoestimatetheinitialpositionoftherobot.Anothersensorthatiswidelyusedintheestimationoftheangularpositionoftherobotjointsisthegyroscope
6、;itprovidesameasurementofangularrateofchange,requiringtheaccumulatedsumovertimetoestimatetheangularposition.Despitethefactthattheycandetectsomenonlinearitiesthatcannotbeestimatedwithencoders,thequantized,noisysignalcausesaccumulatederrorswhenangularpositionisr
7、equired[13-15].Furthermore,theestimatedangularpositionisrelative,whichdoesnotpermitonetoknowtheinitialangularpositionoftherobotjoints.Agoodsensorthatprovidesanabsolutemeasurementistheaccelerometeranditcanbeusedtoestimatetherobotangularposition[5,16-20].Neverth
8、eless,thesignalobtainedisnoisyandcontainsmuchinformationthatneedspreprocessingbeforebeingused[21].Twomainissuesneedtobesolvedwhentherobotforwardkinematicsisrequired:theproblemsofus
