TUTCRIS - Tampereen teknillinen yliopisto

TUTCRIS

Joint angle estimation for floating base robots utilizing MEMS IMUs

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
Otsikko8th IEEE International Conference on Cybernetics and Intelligent Systems (CIS), Robotics, Automation and Mechatronics (RAM)
JulkaisupaikkaChina
KustantajaIEEE
Sivut282-287
Sivumäärä6
ISBN (elektroninen)978-1-5386-3135-5
DOI - pysyväislinkit
TilaJulkaistu - 2017
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaIEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM) -
Kesto: 1 tammikuuta 2000 → …

Conference

ConferenceIEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)
LyhennettäCIS-RAM
Ajanjakso1/01/00 → …

Tiivistelmä

This paper describes a novel motion estimation algorithm for floating base manipulators that utilizes low-cost inertial measurement units (IMUs) containing a three-axis gyroscope and a three-axis accelerometer. Four strap-down microelectromechanical system (MEMS) IMUs are mounted on each link to form a virtual IMU whose body’s fixed frame is located at the center of the joint rotation. An extended Kalman filter (EKF) and a complementary filter are used to develop a virtual IMU by fusing together the output of four IMUs. The novelty of the proposed algorithm is that no forward kinematic model that requires data flow from previous joints is needed. The measured results obtained from the planar motion of a hydraulic arm show that the accuracy of the estimation of the joint angle is within ± 1 degree and that the root mean square error is less than 0.5 degree.