| Autor: |
Hanai, Hiroaki, Mita, Yuma, Hirogaki, Toshiki, Aoyama, Eiichhi |
| Zdroj: |
Advances in Science and Technology; March 2024, Vol. 143 Issue: 1 p55-60, 6p |
| Abstrakt: |
In this study, we measured the rolling motion of a spherical six-axis inertial measurement unit (IMU) fabricated via FDM (Fused Deposition Modeling) using wireless communication. When a sphere rolls on a plane, the axis of rotation is undefined, and the amount of rotation is unlimited. Therefore, the conventional Euler angular representation for pose estimation produces singular points (gimbal locks), and a continuous pose representation is not possible. In this paper, we propose an algorithm that incorporates micro-quaternions to achieve continuous posture representation, even at singular points. Subsequently, we discuss its applications. |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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