Performance evaluation of a sensor fusion algorithm for attitude estimation using commercial IMU and scale Stewart platform

Costa, M. S. M.; Meggiolaro, Marco Antônio; Neto, Mauro Speranza; Albuquerque, Allan Nogueira de; Assad, Marília Maurell

doi:10.20906/cps/cob-2015-0305

Cited by 2 publications

(2 citation statements)

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“…Equation (3) illustrates that M T L can be expressed via W T L (0). And W T L (0) has the following mathematical transformation:…”

Section: Coordinate Transformationmentioning

confidence: 99%

“…Due to the wide promotion of the low-cost inertial measurement unit (IMU), it is extensively used in multiple-degree-of-freedom measurement. Costa and Meggiolaro [3] used IMU, which comprised of a tri-axis accelerometer, a tri-axis gyro incorporated and a tri-axis magnetometer, to measure the pose of the Stewart platform. Since the acceleration information of the measured object is directly got by the IMU, it needs to be converted through integration, which results in extra cumulative error.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Space-to-plane decoupling method for six-degree-of-freedom motion measurements

Zhang¹,

Cai²,

Liu³

et al. 2021

Meas. Sci. Technol.

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The advantages of the Stewart platform in bearing capacity, dynamic response, structural rigidity, and stability make it widely used in many fields, such as motion simulators, parallel machine tools, assembly docking. In order to ensure that the spatial positioning accuracy of the Stewart platform to meet the application requirements in various fields, it is necessary to measure its pose in real time. However, the six degrees of freedom are highly coupled, it is difficult to obtain reliable six-degree-of-freedom information through mathematical decoupling. In this study, a machine vision measurement method based on physical decoupling is proposed. The spatial motion measurement of the Stewart platform is mapped to the plane motion measurement by three feature points through the laser pointer and the rear-projection screen. It realizes the dimension reduction equivalently, and simplifies the mathematical model. A lot of experimental analyses show that the proposed method can reliably achieve high-precision real-time measurement of six-degree-of-freedom, which has the accuracy of 0.21 mm (displacement) and 0.045° (rotation) at frequency between 0.1 and 1 Hz. In addition, the space-to-plane decoupling method provides a new way to implement the traceability of the six-degree-of-freedom spatial motion measurement.

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“…Equation (3) illustrates that M T L can be expressed via W T L (0). And W T L (0) has the following mathematical transformation:…”

Section: Coordinate Transformationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%