Assessment of the aproximation accuracy of the point trajetory with use of inertial sensors

Abstract eng:
In this work, the possibilities of point trajectory evaluation with use of commercial inertial sensors pack, IMU (Inertial Measurement Unit), are presented. The first step was to assess the acceleration frequencies for indicative fast movement of the 2R arm. During this move, the sensors pack was attached to the end of the arm, the nature of the arm movement similar to a fast swing of a human arm. Based on the received data, the sampling frequency has been determined. Afterwards, the real measurement has been taken using a linear guide. When the measurements were being taken, the IMU was not able to rotate in the gravitation field. The recorded measurements have been processed with use of the time window double integration algorithm. Subsequently, the calculated data from experiment has been compared with the real displacement of the IMU.

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