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Inclination Parameter Estimation for Manipulator and Humanoid Robot Links

[+] Author Affiliations
Vishesh Vikas, Carl D. Crane, III

University of Florida, Gainesville, FL

Paper No. DETC2011-48221, pp. 1177-1183; 7 pages
doi:10.1115/DETC2011-48221
From:
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME

abstract

A novel approach of dynamic, non-contact measurement of inclination parameters for robotics applications using the Vestibular Dynamic Inclinometer (VDI) is proposed in the paper. The gravity-invariant Vestibular Dynamic Inclinometer (VDI) is a sensor that consists of symmetrically placed two dual-axis linear accelerometers and one single-axis gyroscope. The deployment of the non-contact sensor is strategic and need not be exactly at the joints. The sensor is also able to estimate the inclination parameters of the base link and the acceleration of the surface of contact. The inclination parameters — base angle, joint angles, angular velocity and angular acceleration, are independent of integration errors/drift.

Copyright © 2011 by ASME

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