| Autor: |
Martyna Wojnar, Tomasz Grzejszczak, Adam Galuszka, Natalia Bartosiak |
| Rok vydání: |
2021 |
| Předmět: |
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| Zdroj: |
MMAR |
| Popis: |
The purpose of this paper is to find and examine the impact of error of MTw Xsens IMU sensors. The sensors are used for manipulator control by means of teleoperation. The serial connection of the sensors generates the effect of error accumulation such that the orientation of last element of kinematic chain is measured with cumulative error of all sensors. In this paper the results of test is presented where the sensors are connected in series for yaw and roll error calculations. Two types of errors are present: constant accumulated over time and temporary error in form of spikes. Final discussion presents the possible accuracy of the kinematic chain depending on the number of used sensors. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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