miun.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Joint Angular Sensor Based on Distributed Biaxial MEMS Accelerometers
Mid Sweden University, Faculty of Science, Technology and Media, Department of Information Technology and Media. (Electronics design division)
Mid Sweden University, Faculty of Science, Technology and Media, Department of Information Technology and Media. (STC)
Mid Sweden University, Faculty of Science, Technology and Media, Department of Information Technology and Media. (STC)
Responsible organisation
2007 (English)In: IECON 2007: 33RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, CONFERENCE PROCEEDINGS, New York: IEEE conference proceedings, 2007, 2242-2247 p.Conference paper, (Refereed)
Abstract [en]

This paper presents the analysis for joint angle measurement on rigid body that is based on distributed biaxial MEMS accelerometers. It focuses on two methods, one called CMR and another DCMR, and utilizes the property of rigid body kinematics to explain their advantages and weaknesses. Unlike CMR method, DCMR method has no requirement on placing the sensors close to the joint center. This provides greater flexibility for the sensor installation. On the basis of the error model of CMR method, we give an analysis outlining the advantage of theoretically error-free DCMR method. The sensor calibration and alignment is described and both methods are characterized on a rigid body robot arm model. The experiment shows the angular error up to 0.4rad from CMR method whereas just 0.03rad from DCMR method. The noise level from both methods is also compared and analyzed. The result reveals a larger but tunable noise for DCMR method.

Place, publisher, year, edition, pages
New York: IEEE conference proceedings, 2007. 2242-2247 p.
Series
IEEE Industrial Electronics Society, ISSN 1553-572X ; 5
Keyword [en]
Sensor
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:miun:diva-3609DOI: 10.1109/IECON.2007.4459909ISI: 000253451402030Local ID: 4579ISBN: 1-4244-0783-4 (print)OAI: oai:DiVA.org:miun-3609DiVA: diva2:28641
Conference
33rd Annual Conference of the IEEE-Industrial-Electronics-Society, Nov 05-08, 2007, Taipei, Taiwan
Projects
STC - Sensible Things that Communicate
Available from: 2008-09-30 Created: 2009-07-29 Last updated: 2013-03-25Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full text

Search in DiVA

By author/editor
Cheng, PengLinnarsson, FredrikOelmann, Bengt
By organisation
Department of Information Technology and Media
Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar

Altmetric score

Total: 539 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf