Using inertia sensors for orientation estimation of robot manipulators
Joint Authors
Hasan, Dler Salih
Carl Crane III
Hamrash, Ibrahim Ismail
Source
ZANCO Journal of Pure and Applied Sciences
Publisher
Salahaddin University-Erbil Department of Scientific Publications
Publication Date
2019-06-30
Country of Publication
Iraq
No. of Pages
6
Main Subjects
English Abstract
This research seeks to obtain comprehensive information regarding the relative orientation of two rigid bodies that have a common point.
The study aims to acquire the results through focusing on information from the instantaneous sensor measurements only.
Additionally, the study intends to use achieve its goals by using data obtained from Three 3 axis ADXL 345 accelerometers and one 9 DOF -IMU which contains (accelerometer, magnetometer and Gyroscope sensors) attached to each links of a robot manipulator.
Electronic circuit board has been designed using Arduino microcontroller to acquire sensor data from each link.
Extended Kalman filter (EKF) is used in Arduino sketch for data filtering and fusion.
A model is proposed and programed using MATLAB software for estimation Euler angles and orientation of the Robot Manipulator.
The results that have been obtained are in perfect match with the results obtained from both Mahony and Madgwick methods.
Data Type
Conference Papers
Record ID
BIM-894784
American Psychological Association (APA)
Hasan, Dler Salih& Hamrash, Ibrahim Ismail& Carl Crane III. 2019-06-30. Using inertia sensors for orientation estimation of robot manipulators. International Conference on Engineering and Innovative Technology (2 : 2019 : Irbil, Iraq). . Vol. 31, no. 3 (Supplement) (2019), pp.318-323.Irbil Iraq : Salahaddin University-Erbil Department of Scientific Publications.
https://search.emarefa.net/detail/BIM-894784
Modern Language Association (MLA)
Hasan, Dler Salih…[et al.]. Using inertia sensors for orientation estimation of robot manipulators. . Irbil Iraq : Salahaddin University-Erbil Department of Scientific Publications. 2019-06-30.
https://search.emarefa.net/detail/BIM-894784
American Medical Association (AMA)
Hasan, Dler Salih& Hamrash, Ibrahim Ismail& Carl Crane III. Using inertia sensors for orientation estimation of robot manipulators. . International Conference on Engineering and Innovative Technology (2 : 2019 : Irbil, Iraq).
https://search.emarefa.net/detail/BIM-894784
