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| Content Provider | IET Digital Library |
|---|---|
| Author | Zhang, Tianlin Chen, Sheng Xu, Guozheng Wang, Chao Tan, Caiming |
| Abstract | To detect the joint angle of the manipulator accurately, a measuring method based on an IMU sensor is proposed. The sensor's attitude angles and corresponding rotation matrix are obtained according to the data of three-axis gyroscope and three-axis accelerometer. During the installation, the sensor's Z-axis direction is kept along with the motor's rotation axis direction, so that the angle of the sensor rotating around its Z-axis, which is the rotation angle of the motor, can be calculated by comparing the rotation relationship between the sensor's initial position and the sensor's position after the motor rotating. The largest source of result error derives from the inconsistent between the sensor's Z-axis direction and the motor's rotation axis direction. Consequently, an installation's error compensation method is designed to correct the sensor's Z-axis to the motor's rotation axis by rotating the related motor. The experiments show that the method can measure the joint angle of the manipulator accurately and calibrate the installation error effectively. The measurement result errors are confined <0.25°. |
| Starting Page | 9001 |
| Ending Page | 9005 |
| Page Count | 5 |
| Volume Number | 2019 |
| e-ISSN | 20513305 |
| Issue Number | Issue 23, Dec (2019) |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/joe/2019/23 |
| Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/joe.2018.9167 |
| Journal | The Journal of Engineering |
| Publisher | The Institution of Engineering and Technology |
| Publisher Date | 2019-03-25 |
| Access Restriction | Open |
| Rights License | Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0/) |
| Subject Keyword | Acceleration Accelerometer Angular Measurement Attitude Angles Axis Direction Calibration Error Compensation Gyroscopes IMU Sensor Inertial System Installation Error Compensation Method Joint Angle Detection Joint Angle Measurement Manipulator Manipulators Measurement And Error Theory Measurement Error Measurement Standard And Calibration Measurement Theory Measurement Units Rotation Angle Rotation Axis Relationship Rotation Matrix Rotation Measurement Sensing And Detecting Device Sensing Device And Transducers Sensor Spatial Variables Measurement Three-axis Accelerometer Three-axis Gyroscope Units (measurement) Velocity |
| Content Type | Text |
| Resource Type | Article |
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