IMU-based kinematic chain pose estimation using Kalman Filter
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] pracownik
2017
rozdział w monografii naukowej / referat
angielski
- pose estimation
- restricted joints
- extended Kalman filter
- IMU
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°.
331 - 338
20
WoS (15)