Joint angle measurement of manipulator and error compensation based on an IMU sensor

Zhang, Tianlin; Chen, Sheng; Xu, Guoqing; Wang, Chao; Tan, Caiming

doi:10.1049/joe.2018.9167

Cited by 3 publications

(2 citation statements)

References 14 publications

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“…Himmelsbach et al [1] used a single pixel time-of-flight sensor to detect obstacles to the robot arm and thereby prevent collision. The inertial measurement unit sensor was used to measure the joint angle of the manipulator and monitor collision [2,3]. In Liang et al [4,5] the detection information is fed back through the collision surface of the tactile sensor.…”

Section: Introductionmentioning

confidence: 99%

An effective self-collision detection algorithm for multi-degree-of-freedom manipulator

Liu

Zhang²,

Qin³

et al. 2022

Meas. Sci. Technol.

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In order to address the self-collision problem associated with the operation of modern industrial robots, this paper proposes a multi-degree-of-freedom (multi-DOF) collision detection algorithm that can detect self-collision in single arm and double arm robots as well as collision with the load. Firstly, the zero pose of the Denavit-Hartenberg model is built based on the manipulator configuration, and the coordinate information of each key point is obtained through a rotation and translation operation of the matrix. Then, the positional relation and distance between the detected objects are determined by the spatial geometry theory, and finally, collision is detected using a collision matrix. By simulating two groups of single arms and two groups of double arms, and from the laboratory testing of SR10C in the SIASUN robot factory, it has been verified that the proposed algorithm has good collision detection capability. Without the use of sensors, cameras, and other external devices, the collision between the arm and the load, and the collision between the cooperative robot and the load may be effectively detected and mitigated.

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Section: Introductionmentioning

confidence: 99%

An effective self-collision detection algorithm for multi-degree-of-freedom manipulator

Liu

Zhang²,

Qin³

et al. 2022

Meas. Sci. Technol.

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show abstract

“…At this time, as a small and portable measuring tool, the IMU can realize repeatable and real-time monitoring without occupying the design space of the robot. Many scholars have used IMU to measure the robot angle 4,5 , but there are some typical problems. The first is that the direction of the sensor can not be consistent with the direction of the rotating axis of the motor during installation.…”

Section: Introductionmentioning

confidence: 99%

IMU-based joint angle measurement for robot joint angle analysis

Chen

2022

Third International Conference on Computer Science and Communication Technology (ICCSCT 2022)

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Aiming at solving the problem of joint angle measurement during the movement of small robots or robotic arms that cannot be equipped with angle encoders, this paper provides a small, lightweight and detachable measurement system. Compared with traditional magnetic and optical joint angle sensors, the principle of this method has the advantages of flexible installation and non-invasive measurement. By simply binding two inertial measurement units (IMUs) on both sides of the robot joint in any pose, real-time and high-precision robot joint angle measurement can be achieved through wireless transmission. At the same time, the relationship between the IMU and the joint pose changes dynamically with the robot, which can avoid measurement errors due to loose binding or robot vibration. In this paper, experiments were carried out on a knee joint rehabilitation training robot which can realize two rehabilitation actions, and the precise and stable joint angle curve of the robot is obtained.

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Effect of IMU Sensor Positioning on 1-DOF Angle Measurement Accuracy for Robotic Charging Station (RoCharg-v1) Manipulator

Saputra,

Permadi,

Baskoro

et al. 2023

2023 International Conference on Computer, Control, Informatics and Its Applications (IC3INA)

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Joint angle measurement of manipulator and error compensation based on an IMU sensor

Cited by 3 publications

References 14 publications

An effective self-collision detection algorithm for multi-degree-of-freedom manipulator

An effective self-collision detection algorithm for multi-degree-of-freedom manipulator

IMU-based joint angle measurement for robot joint angle analysis

Effect of IMU Sensor Positioning on 1-DOF Angle Measurement Accuracy for Robotic Charging Station (RoCharg-v1) Manipulator

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