Sensor Fusion for Joint Kinematic Estimation in Serial Robots Using Encoder, Accelerometer and Gyroscope.
Benigno Muñoz-BarronJesus Rooney Rivera-GuillenRoque Alfredo Osornio-RiosRené de Jesús Romero-TroncosoPublished in: J. Intell. Robotic Syst. (2015)
Keyphrases
- sensor fusion
- inertial sensors
- inertial measurement unit
- mobile robot
- joint angles
- joint space
- multiple sensors
- multi robot
- parallel robot
- multi sensor
- motion estimation
- position and orientation
- real time
- path planning
- bit rate
- human body
- physical constraints
- estimation process
- inverse kinematics
- degrees of freedom
- monitoring system
- estimation error
- kinematic model
- kinematic constraints
- camera calibration