Measuring motion with kinematically redundant accelerometer arrays: Theory, simulation and implementation
| Autor: | William S. Harwin, Sebastian Madgwick, Ravi Vaidyanathan, Andrew Harrison, Paul Sharkey |
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| Rok vydání: | 2013 |
| Předmět: |
Engineering
business.industry Mechanical Engineering ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Pendulum Angular velocity Kinematics Accelerometer Rigid body Computer Science Applications Computer Science::Robotics Sensor array Control and Systems Engineering Inertial measurement unit Control theory Redundancy (engineering) Electrical and Electronic Engineering business ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | Mechatronics. 23:518-529 |
| ISSN: | 0957-4158 |
| DOI: | 10.1016/j.mechatronics.2013.04.003 |
| Popis: | This work presents two schemes of measuring the linear and angular kinematics of a rigid body using a kinematically redundant array of triple-axis accelerometers with potential applications in biomechanics. A novel angular velocity estimation algorithm is proposed and evaluated that can compensate for angular velocity errors using measurements of the direction of gravity. Analysis and discussion of optimal sensor array characteristics are provided. A damped 2 axis pendulum was used to excite all 6 DoF of the a suspended accelerometer array through determined complex motion and is the basis of both simulation and experimental studies. The relationship between accuracy and sensor redundancy is investigated for arrays of up to 100 triple axis (300 accelerometer axes) accelerometers in simulation and 10 equivalent sensors (30 accelerometer axes) in the laboratory test rig. The paper also reports on the sensor calibration techniques and hardware implementation. |
| Databáze: | OpenAIRE |
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