access icon openaccess Joint angle measurement of manipulator and error compensation based on an IMU sensor

To detect the joint angle of the manipulator accurately, a measuring method based on an IMU sensor is proposed. The sensor's attitude angles and corresponding rotation matrix are obtained according to the data of three-axis gyroscope and three-axis accelerometer. During the installation, the sensor's Z-axis direction is kept along with the motor's rotation axis direction, so that the angle of the sensor rotating around its Z-axis, which is the rotation angle of the motor, can be calculated by comparing the rotation relationship between the sensor's initial position and the sensor's position after the motor rotating. The largest source of result error derives from the inconsistent between the sensor's Z-axis direction and the motor's rotation axis direction. Consequently, an installation's error compensation method is designed to correct the sensor's Z-axis to the motor's rotation axis by rotating the related motor. The experiments show that the method can measure the joint angle of the manipulator accurately and calibrate the installation error effectively. The measurement result errors are confined <0.25°.

Inspec keywords: accelerometers; error compensation; units (measurement); calibration; rotation measurement; gyroscopes; manipulators; sensors; inertial systems; measurement errors; angular measurement

Other keywords: manipulator; rotation matrix; attitude angles; joint angle measurement; IMU sensor; rotation axis relationship; axis direction; rotation angle; installation error compensation method; three-axis gyroscope; three-axis accelerometer; joint angle detection

Subjects: Sensing devices and transducers; Sensing and detecting devices; Measurement units; Measurement standards and calibration; Spatial variables measurement; Measurement units; Velocity, acceleration and rotation measurement; Spatial variables measurement; Velocity, acceleration and rotation measurement; Measurement standards and calibration; Measurement and error theory; Measurement theory

References

    1. 1)
      • 2. Olabi, A., Mohamed, D., Bearee, R., et al: ‘Improving the accuracy of industrial robots by offline compensation of joints errors’. 2012 IEEE Int. Conf. on Industrial T, Athens, Greece, 2012, pp. 492497.
    2. 2)
      • 17. Zheng, S., Dong, H., Zhang, R., et al: ‘Angle estimation of a single-axis rotation: a practical inertial-measurement-unit-based method’, IET Sci. Meas. Technol., 2017, 11, (7), pp. 892899.
    3. 3)
      • 5. Kikuchi, Y., Nakamura, F., Wakiwaka, H., et al: ‘Index phase output characteristics of magnetic rotary encoder using a magneto-resistive element’, IEEE Trans. Magnetics, 1997, 33, (5), pp. 33703372.
    4. 4)
      • 9. Philipp, M., Marc-andre, B., Schauer, T., et al: ‘Alignment-Free, self-calibrating elbow angles measurement using inertial sensors’, IEEE J. Biomed. Health Inf., 2017, 21, (2), pp. 312319.
    5. 5)
      • 14. Baritzhack, I.Y., Berman, N.: ‘Control theoretic approach to inertial navigation systems’, J. Guidance Control Dyn., 2012, 10, (10), pp. 14421453.
    6. 6)
      • 15. Modestus, J.F.: ‘Rodrigues’ rotation formula - Angle of Rotation’ (Strupress, USA, 2011).
    7. 7)
      • 11. Ahmed, H., Tahir, M.: ‘Accurate attitude estimation of a moving land vehicle using low-cost MEMS IMU sensors’, IEEE Trans. Intell. Trans. Syst., 2017, 99, pp. 117.
    8. 8)
      • 6. Iordache, I., Bojan, M., Apostol, D., et al: ‘Optical encoder measurement technology’. Proc. of SPIE – The Int. Society for Optical Engineering, Bucharest, Romania, 2007, 6635, pp. 663506663506-6.
    9. 9)
      • 8. Vikas, V., Crane, C.I.: ‘Joint angle measurement using strategically placed accelerometers and gyroscope’, J. Mech. Robotics-Trans., 2016, 8, (2), p. 021003.
    10. 10)
      • 13. Brennan, A., Zhang, J., Deluzio, K., et al: ‘Quantification of inertial sensor-based 3D joint angle measurement accuracy using an instrumented gimbal’, Gait Posture, 2011, 34, (3), p. 320.
    11. 11)
      • 3. Cheng, P., Oelmann, B.: ‘Joint-angle measurement using accelerometers and gyroscopes – a survey’, IEEE Trans. Instrum. Meas., 2010, 59, (2), pp. 404414.
    12. 12)
      • 7. Geiger, W., Bartholomeyczik, J., Breng, U., et al: ‘MEMS IMU for AHRS applications’. 2008 IEEE/ION Position, Location and Navigation Symp., Monterey, CA, USA, 2008, pp. 225231.
    13. 13)
      • 1. Zhi, L., Zhao, Z., Ying, X., et al: ‘Kinematic calibration and compensation for a robot with structural deformation’, Robot, 2015, 37, (3), pp. 376384.
    14. 14)
      • 10. Meng, D., Todd, S., Gustavo, V.: ‘Accuracy improvement on the measurement of human-joint angles’, IEEE J. Biomed. Health Inf., 2016, 20, (2), pp. 498507.
    15. 15)
      • 4. Seel, T., Raisch, J., Schauer, T.: ‘IMU-based joint angle measurement for gait analysis’, Sensors, 2014, 14, (4), pp. 68916909.
    16. 16)
      • 12. Sun, T., Wang, C., Liu, Q., et al: ‘Development of lower limb motion detection based on LPMS’. IEEE Int. Conf. on Real-Time Computing and Robotics, Phum Kruos, Sangkat Svay Dangkum, Siem Reap, Cambodia, 2016, pp. 243248.
    17. 17)
      • 16. Diebel, J.: ‘Representing attitude: euler angles, unit quaternions, and rotation vectors’, Matrix, 2006, 58, ((15-16)), pp. 135.
http://iet.metastore.ingenta.com/content/journals/10.1049/joe.2018.9167
Loading

Related content

content/journals/10.1049/joe.2018.9167
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading