Magnetometer-free inertial motion tracking of arbitrary joints with range of motion constraints
نویسندگان
چکیده
منابع مشابه
Motion tracking algorithms for inertial measurement
In this paper, we describe the development of the software algorithms required to interpret sensor data developed by a wearable miniaturized wireless inertial measurement unit (IMU) to enable tracking of movement Traditionally, inertial tracking has involved the use of off the shelf motion sensors in the form of an inertial measurement unit, in combination with a GPS based receiver system for i...
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متن کاملModeling a Robot with Flexible Joints and Decoupling its Equations of Motion
Recently a method has been developed to decouple the equations of motion for multi-rigid body systems. In this paper, the method is first studied, then the equations of motion for a planar two degree-of-freedom robot with flexible joints are carried out using Lagarange's equations and Kane's equation with congruency transformations. Finally, the results obtained from both methods are throroughl...
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ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2020
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2020.12.401