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Chapter

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Title

IMU-based kinematic chain pose estimation using Kalman Filter

Authors

[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication

2017

Chapter type

chapter in monograph / paper

Publication language

english

Keywords
EN
  • pose estimation
  • restricted joints
  • extended Kalman filter
  • IMU
Abstract

EN In this paper, a method of angular joint position estimation, utilizing small size IMUs, was presented. The method is based on an EKF and a model considering kinematic constraints of links, global orientation, angular velocities and magnetic vector orientation. The tests were performed using a 2-joint phantom with 3 IMUs. UR3 manipulator was used to generate base trajectories. The procedure covered simultaneous movements of manipulator and phantom's joints, and various orientations with respect to gravity vector. Maximum angular rate achieved was 290°/s, while linear accelerations reached 0.6 m/s2. The over-all RMSE error did not exceed 5°, and for movements with high manipulator velocities was kept below 10°.

Pages (from - to)

331 - 338

DOI

10.1142/9789813149137_0040

URL

https://www.worldscientific.com/doi/epdf/10.1142/9789813149137_0040

Book

Advances in Cooperative Robotics : proceedings of the 19th International conference on CLAWAR 2016

Presented on

19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016, 12-14.09.2016, London, United Kingdom

Ministry points / chapter

20

Publication indexed in

WoS (15)

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