Pose-and-twist estimation of a rigid body using accelerometers

被引：0

作者：

Parsa, K ^{[1
]}

Angeles, J ^{[1
]}

Misra, AK ^{[1
]}

机构：

[1] McGill Univ, Dept Mech Engn, Montreal, PQ, Canada

来源：

2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS | 2001年

关键词：

accelerometer; attitude; estimation; pose; rigid-body kinematics; twist;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An algorithm for estimating the pose and twist of a rigid body using measurements made by a redundant number of on-board accelerometers is formulated. Redundancy helps reduce the effect of the accelerometer noise. This algorithm is based only on rigid-body kinematics because it is intended to be used for rigid bodies acted upon by forces and moments elusive to modelling. Procedures are developed to calculate the angular velocity and acceleration as well as the attitude of the body along with the velocity and position of the centroid of the pickup points, all in the body frame. It is shown that a small installation error can cause the integration results to become unstable. This instability is compensated for by means of a pose-measurement sensor.

引用

页码：2873 / 2878

页数：6

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