Narzędzia help

Preferencje help
Widoczny [Schowaj] Abstrakt
Liczba wyników
first last
cannonical link button

http://yadda.icm.edu.pl:80/baztech/element/bwmeta1.element.baztech-587182a9-5d31-40e2-8edb-e63f7e221c89

Czasopismo

Journal of Automation Mobile Robotics and Intelligent Systems

Tytuł artykułu

The measurement of displacement with the use of MEMS sensors : accelerometer, gyroscope and magnetometer

Autorzy Kobierska, A.  Podsędkowski, L.  Poryzała, P.  Rakowski, P. 
Treść / Zawartość
Warianty tytułu
Języki publikacji EN
Abstrakty
EN The paper presents the method of determining the global orientation of links of the measuring arm by gauging the angles of the links relative to the vector of the gravitational and magnetic field using inertial sensors. A method of using Kalman filter to average the results is presented as a test on two-links measuring arm equipped with accelerometers and magnetometers placed on each of the links and analysis of measurement results in terms of repeatability. There was demonstrated the ability of creating kinematic chain. Instead of determining the position of the final link on the basis of the measurement of angles in relation to the previous links from the end to the base of the arm, it is possible to define links global orientation by measuring angles of links in reference to the vectors of the gravity field and the magnetic field, in global coordinate system.
Słowa kluczowe
EN Kalman filter   MEMS sensors   measuring arm  
Wydawca Industrial Research Institute for Automation and Measurements PIAP
Czasopismo Journal of Automation Mobile Robotics and Intelligent Systems
Rocznik 2017
Tom Vol. 11, No. 2
Strony 42--47
Opis fizyczny Bibliogr. 9 poz., rys.
Twórcy
autor Kobierska, A.
  • Lodz University of Technology, Institute of Machine Tools and Production Engineering, 1/15 B. Stefanowskiego Street, 90-924 Lodz, Poland, agnieszka.kobierska@p.lodz.pl
autor Podsędkowski, L.
  • Lodz University of Technology, Institute of Machine Tools and Production Engineering, 1/15 B. Stefanowskiego Street, 90-924 Lodz, leszek.podsedkowski@p.lodz.pl
autor Poryzała, P.
autor Rakowski, P.
  • Lodz University of Technology, Institute of Machine Tools and Production Engineering, 1/15 B. Stefanowskiego Street, 90-924 Lodz, piotr.rakowski@edu.p.lodz.pl
Bibliografia
[1] P. Cheng, B. Oelmann, “Joint-Angle Measurement Using Accelerometers and Gyroscopes—A Survey”, IEEE Transactions On Instrumentation And Measurement vol. 59, no. 2, 2010, 404–414. DOI: 10.1109/TIM.2009.2024367.
[2] M. El-Gohary, J. McNames, “Human Joint Angle Estimation with Inertial Sensors and Validation with A Robot Arm”, IEEE Transactions On Biomedical Engineering, vol. 62, no. 7, 2015, 1759–1767. DOI: 10.1109/TBME.2015.2403368.
[3] M. Quigley et al., “Low-cost Accelerometers for Robotic Manipulator Perception”. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 18–22, 2010, 6168–6174.DOI: 10.1109/IROS.2010.5649804.
[4] Y. Wang, B. Pitzer, “Manipulator State Estimation with Low Cost Accelerometers and Gyroscopes”. In: ed. Philip Roan, Nikhil Deshpande, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 7–12, 2012, 4822–4827.DOI: 10.1109/IROS.2012.6385893.
[5] M. Xu, N. Fan, Z. Wang, “Study on Extended Kalman Filtering for Attitude Estimation of Micro Flight Vehicle”. In: Third International Conference on Measuring Technology and Mechatronics Automation, vol. 3, 2011, 457–460. DOI: 10.1109/ICMTMA.2011.685.
[6] H. Zhao , Z. Wang, “Motion Measurement Using Inertial Sensors, Ultrasonic Sensors, and Magnetometers With Extended Kalman Filter for Data Fusion”, IEEE Sensors Journal, vol. 12, no. 5, 2012, 943–953. DOI: 10.1109/JSEN.2011.2166066.
[7] Ł. Frącczak, L. Podsędkowski, A. Kobierska, “Data fusion using Fuzzy Logic techniques supported by Modified Weighting factors (FLMW)”, International Journal of Fuzzy Systems, vol. 18, no. 1, 2016, 72-80. DOI: 10.1007/s40815-015-0095-3.
[8] L. Podsędkowski, H. Podsędkowska „The adaptive optimal Finite Impulse Response smoothing for off - line estimation of the states of the system described by discrete state space model using Extended Output Vector”, Methods and Models in Automation and Robotics MMAR 2015, 1179–1184. DOI: 10.1109/MMAR.2015.7283984.
[9] P. Żak, “Using 9-axis Sensor for Precise Cardiosurgical Robot Master Angular Position Determination”, Solid State Phenomena, vol. 199, 2013, 356–361.
Uwagi
PL Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).
Kolekcja BazTech
Identyfikator YADDA bwmeta1.element.baztech-587182a9-5d31-40e2-8edb-e63f7e221c89
Identyfikatory
DOI 10.14313/JAMRIS_2-2017/15