Wireless IMU-Based Orientation Control for Robotic Systems
DOI:
https://doi.org/10.22399/ijcesen.662Keywords:
Wireless IMU, Robot Kinematics, Orientation Control, Denso VP6242, Mtw AwindaAbstract
The study investigates the application of Wireless Inertial Measurement Unit (IMU) technology in enhancing the orientation control of robotic systems, specifically focusing on the Denso VP6242 serial robot. The research aims to accurately measure and control the roll, pitch, and yaw angles of the robot using the Xsens MTw wireless IMU, integrating the data with inverse position kinematics to achieve real-time orientation control. The methodology involves the calibration and integration of IMU sensors, data acquisition via Matlab scripts, and the real-time processing and transfer of data to the Simulink environment for simulation and experimental validation. Results from both simulations and laboratory tests confirm the effectiveness of the system in maintaining high precision and accuracy in the robot’s movements, with minimal deviations in orientation angles. The study demonstrates the potential of wireless IMU technology to improve flexibility, mobility, and ease of installation in robotic systems, with applications extending across various fields such as industrial automation, healthcare, and autonomous navigation.
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