A robust optical/inertial data fusion system for motion tracking of the robot manipulator

We present an optical/inertial data fusion system for motion tracking of the robot manipulator, which is proved to be more robust and accurate than a normal optical tracking system（OTS）. By data fusion with an inertial measurement unit（IMU）, both robustness and accuracy of OTS are improved. The Kalm...

Full description

Saved in:
Bibliographic Details
Published in:Frontiers of information technology & electronic engineering 2014-07, Vol.15 (7), p.574-583
Main Authors: Chen, Jie, Yang, Can-jun, Hofschulte, Jens, Jiang, Wan-li, Zhang, Cha
Format: Article
Language:English
Subjects:
Communications Engineering
Computer Hardware
Computer Science
Computer Systems Organization and Communication Networks
Data integration
Electrical Engineering
Electronics and Microelectronics
Inertial platforms
Instrumentation
Kalman filters
Manipulators
Networks
Noise measurement
Optical tracking
Robot arms
Robot dynamics
Robustness
Synchronism
Tracking systems
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:We present an optical/inertial data fusion system for motion tracking of the robot manipulator, which is proved to be more robust and accurate than a normal optical tracking system（OTS）. By data fusion with an inertial measurement unit（IMU）, both robustness and accuracy of OTS are improved. The Kalman filter is used in data fusion. The error distribution of OTS pro-vides an important reference on the estimation of measurement noise using the Kalman filter. With a proper setup of the system and an effective method of coordinate frame synchronization, the results of experiments show a significant improvement in terms of robustness and position accuracy.
ISSN:1869-1951
2095-9184
1869-196X
2095-9230
DOI:10.1631/jzus.C1300302