Name
Abstract | ||
|---|---|---|
We consider full motion state sensing of a rigid multi-body linkage assembly using rate gyros and linear accelerometers. The research is built upon micro-electromechanical systems (MEMS) components for low-cost “strap-down” implementation. An open-chain geometrical assembly motion model is proposed and validated experimentally using a minimum MEMS-configuration per link. The related inclination sensing, which is robust against linear and angular motion effects, proceeds in a novel cascaded manner and is founded on the complementary and Kalman filtering principles for exclusive low delay. This is demonstrated by a suite of experiments on a robotic vertically mounted three-link planar arm rig. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/AIM.2013.6584115 | AIM |
Keywords | Field | DocType |
kalman filters,accelerometers,gyroscopes,micromanipulators,motion estimation,robotic assembly,state estimation,kalman filtering principles,angular motion effects,geometry-aided mems motion state estimation,linear accelerometers,linear motion effects,low-cost strapdown implementation,microelectromechanical system components,minimum mems-configuration per link,multibody manipulators,open-chain geometrical assembly motion model,rate gyros,rigid multibody linkage assembly,robotic vertically mounted three-link planar arm rig | Motion control,Gyroscope,Microelectromechanical systems,Control theory,Accelerometer,Computer science,Control engineering,Kalman filter,Circular motion,Planar,Motion estimation | Conference |
ISSN | ISBN | Citations |
2159-6247 | 978-1-4673-5319-9 | 3 |
PageRank | References | Authors |
0.50 | 6 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Juho Vihonen | 1 | 25 | 7.49 |
| Honkakorpi, J. | 2 | 5 | 0.94 |
| Jouni Mattila | 3 | 69 | 20.68 |
| Ari Visa | 4 | 578 | 57.54 |