Accuracy and repeatability tests on 6D measurement arm

• Autorzy: Rakowski P. , Kobierska A. , Podsędkowski L. , Poryzała P.
• Języki publikacji: EN

Abstrakty

EN

We present kinematic structure of measurement arm along with its construction restrains originating from using only accelerometers for determining relative positions of links. Method of calculating position of arm's end in relation to its base basing on orientation of individual links is presented. Accuracy and repeatability tests were performed using custom made test stand. The description of test stand, measurements procedures for last link changing its position in Cartesian directions and orientation in vertical axis is also included in the paper. These changes were justified in context of links orientation in relations to global coordinate system. Obtained tests results are presented and analyzed.

Słowa kluczowe

EN

6D measurement arm; MEMS accelerometers

PL

ramię pomiarowe 6D; akcelerometry MEMS

• Wydawca: Wydawnictwo Politechniki Łódzkiej
• Czasopismo: Mechanics and Mechanical Engineering
• Rocznik: 2017
• Tom: Vol. 21, nr 2
• Strony: 425--436
• Opis fizyczny: Bibliogr. 7 poz., fot., 1 rys., wykr.

Twórcy

autor

Rakowski P.

• Institute of Machine Tools and Production Engineering, Lodz University of Technology, Stefanowskiego 1/15, 90-924 Łódź, Poland

autor

Kobierska A.

• Institute of Machine Tools and Production Engineering, Lodz University of Technology, Stefanowskiego 1/15, 90-924 Łódź, Poland

autor

Podsędkowski L.

• Institute of Machine Tools and Production Engineering, Lodz University of Technology, Stefanowskiego 1/15, 90-924 Łódź, Poland

autor

Poryzała P.

• Institute of Electronics, Lodz University of Technology, Wólczańska 1/15, 90-924 Łódź, Poland

Bibliografia

• [1] Kobierska, A., Podsędkowski, L., Poryzała, P. and Rakowski, P.: Pomiar zmiany położenia z wykorzystaniem czujników MEMS przyspieszenia, prędkości kątowej i magnetycznych, Prace naukowe Politechniki Warszawskiej Elektronika, Postępy Robotyki, 195, 325-334, 2016.
• [2] Cheng, P. and Oelmann, B.: Joint-Angle Measurement Using Accelerometers and Gyroscopes - A Survey, IEEE Transactions On Instrumentation And Measurement, 59, 2, 2010.
• [3] El-Gohary, M. and McNames, J.: Human Joint Angle Estimation with Inertial Sensors and Validation with A Robot Arm, IEEE Transactions On Biomedical Engineering, 62, 7, 2015.
• [4] Quigley, M. et all: Low-cost Accelerometers for Robotic Manipulator Perception, The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Taipei, Taiwan, 2010.
• [5] El-Gohary, M. and Mcnames, J.: Shoulder and elbow joint angle tracking with inertial sensors, IEEE Transactions On Biomedical Engineering, 59, 9, 2012.
• [6] Spong, M. W. and Vidyasagar, M.: Dynamika i sterowanie robotów, Wydawnictwo Naukowo-Techniczne, 1997.
• [7] Jezierski, E.: Dynamika Robotów, Wydawnictwo Naukowo-Techniczne, 2006.

Uwagi

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).