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| Content Provider | ACM Digital Library |
|---|---|
| Author | Goldoni, Emanuele Facchinetti, Tullio Savioli, Alberto |
| Abstract | Micro-Electro-Mechanical Systems (MEMS) sensors are used nowadays in a wide range of applications, from robotics to entertainment. Recently, this technology has also been adopted to equip Inertial Measurement Units (IMUs) replacing traditional electro-mechanical sensors. In this work we present a low-cost embedded IMU which is based on a low-cost embedded microcontroller with limited resources in terms of computing power and memory. The developed software runs on the top of the ERIKA Enterprise real-time kernel to manage the computing tasks that perform sensor data sampling and processing. Low-cost MEMS accelerometers, gyroscopes and magnetometers provide the required data and a Kalman filter analyses raw values in real-time. Experimental results are obtained using a six degrees of freedom anthropomorphic manipulator to drive the IMU with accurate known trajectory, acceleration and rotation. Performances are evaluated both in terms of sensor fusion effectiveness and real-time execution. |
| Starting Page | 491 |
| Ending Page | 495 |
| Page Count | 5 |
| File Format | |
| ISBN | 9781605586397 |
| DOI | 10.1145/1774088.1774190 |
| Language | English |
| Publisher | Association for Computing Machinery (ACM) |
| Publisher Date | 2010-03-22 |
| Publisher Place | New York |
| Access Restriction | Subscribed |
| Subject Keyword | Imu Rtos Real-time Embedded Inertial measurement unit |
| Content Type | Text |
| Resource Type | Article |
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