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CLC number: TP23

On-line Access: 2014-07-10

Received: 2013-10-23

Revision Accepted: 2014-01-22

Crosschecked: 2014-06-16

Cited: 2

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Citations:  Bibtex RefMan EndNote GB/T7714

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Journal of Zhejiang University SCIENCE C 2014 Vol.15 No.7 P.574-583


A robust optical/inertial data fusion system for motion tracking of the robot manipulator

Author(s):  Jie Chen, Can-jun Yang, Jens Hofschulte, Wan-li Jiang, Cha Zhang

Affiliation(s):  State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China; more

Corresponding email(s):   chenjie.zju@gmail.com, ycj@zju.edu.cn

Key Words:  Data fusion, Optical tracking, Inertial measurement unit, Kalman filter

Jie Chen, Can-jun Yang, Jens Hofschulte, Wan-li Jiang, Cha Zhang. A robust optical/inertial data fusion system for motion tracking of the robot manipulator[J]. Journal of Zhejiang University Science C, 2014, 15(7): 574-583.

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%T A robust optical/inertial data fusion system for motion tracking of the robot manipulator
%A Jie Chen
%A Can-jun Yang
%A Jens Hofschulte
%A Wan-li Jiang
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%P 574-583
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%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.C1300302

T1 - A robust optical/inertial data fusion system for motion tracking of the robot manipulator
A1 - Jie Chen
A1 - Can-jun Yang
A1 - Jens Hofschulte
A1 - Wan-li Jiang
A1 - Cha Zhang
J0 - Journal of Zhejiang University Science C
VL - 15
IS - 7
SP - 574
EP - 583
%@ 1869-1951
Y1 - 2014
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.C1300302

We present an optical/inertial data fusion system for motion tracking of the robot manipulator, which is proved to be more robust and accurate than a normal optical tracking system (OTS). By data fusion with an inertial measurement unit (IMU), both robustness and accuracy of OTS are improved. The kalman filter is used in data fusion. The error distribution of OTS provides an important reference on the estimation of measurement noise using the kalman filter. With a proper setup of the system and an effective method of coordinate frame synchronization, the results of experiments show a significant improvement in terms of robustness and position accuracy.



Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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