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

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2021

Autores

João Moreira (Autor) Outra; Vítor H. Pinto (Autor) FEUP; Paulo Gomes da Costa (Autor) FEUP

Ata de Conferência Internacional

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

Páginas: 79-84

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6