Using Inertia Sensors for Orientation Estimation of Robot Manipulators

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.

Keywords

• College of Science
• Salahaddin University-Erbil
• Rotational matrix; Orientation. 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.
• Robotics; 9 DOF- IMU; 3 Axis -Accelerometer; extended Kalman filter EKF
• Rotational matrix; Orientation.