Low-Cost and Accurate Reconstruction of Postures via IMU

Authored by: Gaspare Santaera , Emanule Luberto , Marco Gabiccini

Multisensor Attitude Estimation

Print publication date:  August  2016
Online publication date:  November  2016

Print ISBN: 9781498745710
eBook ISBN: 9781315368795
Adobe ISBN:

10.1201/9781315368795-33

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Abstract

In robotics textbooks and in the vast majority of robotic papers, the forward kinematics of serial and tree-like structures is usually formulated assuming a perfect knowledge of the geometry of the joints that connect the manipulator links and the measurement of the joint angles values, then, allows to obtain the position and the orientation of a hand effector. In most robotic structures, where the limb geometry is known and the joint kinematics is simple, this is without doubts the most effective approach and in these case optical or magnetic encoders, or potentiometers are used to measure the joint angle values (Figure 30.1a).

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