Indoor mobile robot attitude estimation with MEMS gyroscope

Cechowicz, Radosław

doi:10.1051/itmconf/20171505010

Cited by 3 publications

(2 citation statements)

References 14 publications

(20 reference statements)

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“…With the advantages of small size, high precision, and low energy consumption [1][2][3][4], different types of MEMS accelerometers are widely used in vehicles, space medical devices and robots [5][6][7][8]. The characteristics of high signal-to-noise ratio and high robustness are very important for MEMS resonant accelerometers in engineering applications.…”

Section: Introductionmentioning

confidence: 99%

Acceleration sensing based on the bifurcation dynamics of parametrically excited mode-localized resonators

Zhao,

Tang,

Kacem

et al. 2023

Phys. Scr.

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A parametrically excited mode-localized accelerometer is designed using the bifurcation phenomenon to improve the robustness of the fluctuation of the driving voltage and damping while maintaining high sensitivity. A dynamic multi-physics model was established while considering both mechanical and electrostatic nonlinearities. The equation was solved by method of multiple scales and verified by harmonic balanced method coupled with the asymptotic numerical method. Two types of bifurcation exist in amplitude frequency response, namely Saddle-Node bifurcation and Supercritical Hopf bifurcation. By introducing Saddle-Node bifurcation, the response amplitude and measurement range can be improved by 100% and 1000%, respectively, while the sensitivity of the amplitude ratio is about 2 orders of magnitude higher than that based on the frequency ratio. At the Supercritical Hopf bifurcation point, a small acceleration will change the topological structure from Supercritical Hopf to Saddle-Node bifurcation. The variation in the amplitude ratio of the Supercritical Hopf point with acceleration is similar to the sign function, which leads to an extremely high sensitivity of 10000%/g in a dynamic range of ±0.001 g. Moreover, the Supercritical Hopf bifurcation point is not affected by the amplitude of the excitation voltage and damping coefficient, which provides a new method for improving the sensing robustness. Ethical Compliance: All procedures performed in studies involving human participants were in accordance with the ethical standards of the institutional and/or national research committee and with the 1964 Helsinki Declaration and its later amendments or comparable ethical standards. Conflict of Interest declaration: The authors declare that they have NO affiliations with or involvement in any organization or entity with any financial interest in the subject matter or materials discussed in this manuscript.

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Section: Introductionmentioning

confidence: 99%

Acceleration sensing based on the bifurcation dynamics of parametrically excited mode-localized resonators

Zhao,

Tang,

Kacem

et al. 2023

Phys. Scr.

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“…Sato et al [9] completed the calibration of all the parameters of a parallel robot with the aid of a double-ball bar. Cechowicz [10] proposed an attitude estimation method based on low-cost strap-on Micro-Electro-Mechanical System sensors.…”

Section: Introductionmentioning

confidence: 99%

An attitude measurement method of industrial robots based on the inertial technology

Cui

Lin

et al. 2022

Robotica

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The attitude control error of the robot end-effector directly affects the manufacturing accuracy. The study aims to develop a real-time measurement method of the industrial robot end-effector attitude in the field environment for improving the control accuracy of robot attitude. In this paper, an attitude measurement method of robot end-effector based on the inertial technology was proposed. First, an inertial measurement system was designed, and the measurement parameters and installation errors were calibrated. Then the inertia measurement principle of robot end-effector attitude was explored, and the robot end-effector attitude measurement was realized with the fourth-order Runge−Kutta algorithm. In addition, the influence of the data processing algorithm and sampling frequency on the attitude accuracy was analyzed. Finally, a test platform was built to experimentally explore the proposed inertial measurement method. The inertial measured data were compared with the data obtained with the laser tracker. The measurement accuracy of the inertial measurement method reached 0.15°, which met the accuracy requirements of real-time measurements of robot end-effector attitude in the manufacturing field. The method proposed in this paper is convenient and can realize the real-time attitude measurement of industrial robot. The measurement results can compensate the attitude control error of the robot end-effector and improve the attitude control accuracy of the robot.

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Indoor vehicle tracking with a smart MEMS sensor

Cechowicz

Bogucki

2019

MATEC Web Conf.

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Indoor navigation and vehicle tracking require special measurement techniques. The reference points and routes used by classic AGV (Automated Guided Vehicle) systems are usually buried under floor surface or painted directly on the floor, thus limiting the set of possible transportation paths. However, the indoor environment of an industrial warehouse is dynamic, the number and location of objects inside are subject to frequent changes and these changes might not be reflected in the map of the area. In such conditions, navigation according to the on-board instruments (dead-reckoning) could provide valuable information about the position and orientation of the vehicle. This paper reports test results from a smart sensor using a 6-axis MEMS IMU unit and a self-calibrating procedure for indoor vehicle orientation tracking. The smart sensor, integrated with information from wheel encoders can produce 2D position coordinates suitable for navigation. Original data processing algorithm, applied in the sensor, was developed by the authors as a part of the research project on mobile robotics.

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Indoor mobile robot attitude estimation with MEMS gyroscope

Cited by 3 publications

References 14 publications

Acceleration sensing based on the bifurcation dynamics of parametrically excited mode-localized resonators

Acceleration sensing based on the bifurcation dynamics of parametrically excited mode-localized resonators

An attitude measurement method of industrial robots based on the inertial technology

Indoor vehicle tracking with a smart MEMS sensor

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