Motion Tracking of a High-Speed Multilink System Using Dynamic Measurements Fusion

Abstract

This paper presents a technique for tracking the high-speed motion of a multi-link system using Inertial Measurement Units (IMUs) in a new sensor arrangement, an approach which is referred to as dynamic measurements fusion. The proposed technique incorporates accelerometers with traditional gyroscopes to measure joint angular velocities, while joint angles are measured with magnetometers. Comparative studies with conventional techniques show that the proposed technique tracks the motion of a multi-link system accurately at both low (0.5 m/s) and high (5 m/s) speeds. Further analysis with different levels of measurement noise demonstrates the robustness of the proposed technique and its overall capability for tracking joint angular velocities and angles.