Calculation of robot parameters based of multiple sensors Academic Essay

Consider two rigid bodies that share a common point Q as shown in Figure Such a the two bodies are connected by a Universal joint.  A coordinate system is attached to each body and it is assumed that coordinates of point P are known in terms of coordinate systems A and B.

For this approach, Three 3-axis accelerometers and one 9DOF IMU(3-axis gyroscope, 3-axis compass: , 3-axis accelerometer) are attached to each body.

  • Design a mathematical model to Find:


  • the orientation relationship between coordinate systems A and B as represented by the matrix
  • joint angles
  • the angular velocity of body B relative to body A, i.e. AwB,
  • the angular acceleration of body B relative to body A, i.e. AaB .


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