IMU calibration for state estimation of an over-sensored low-cost robotic manipulator

• Type: Article in International Conference Proceedings Book
• Date: 2021

Authors

João Moreira (Author) Other; Vítor H. Pinto (Author) FEUP; Paulo Gomes da Costa (Author) FEUP

Conference proceedings International

Title: 2021 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Pages: 79-84

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 0 Citations

Other information

Authenticus ID: P-00V-1WF

DOI: 10.1109/icarsc52212.2021.9429813

Abstract (EN): There are currently several techniques for automatic calibration of inertial sensors. This paper describes a subset of these algorithms that could be used in a manipulator and should allow for its prompt use. A robotic manipulator specifically developed for the study of over-sensored systems is used to realistically test the performance of the implemented methods. The results of these methods show that the accelerometers and the gyroscopes were properly calibrated. However, the magnetometers suffer from variable interferences and therefore could not be calibrated.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6