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1、2018IEEEInternationalConferenceonRoboticsandAutomation(ICRA)May21-25,2018,Brisbane,AustraliaAStudyonOptimalPlacementofAccelerometersforPoseEstimationofaRobotArm*IndikaB.Wijayasinghe1,MohammadNasserSaadatzi1,ShamsudeenAbubakar1,andDanO.Popa1Abstract—Thisstudyinvestigatesthee
2、ffectsofinertialsensorwitha±1◦accuracy.Estimationmethodshavealsofoundplacementandnoisecharacteristicsontheaccuracyofrobotapplicationsinrehabilitationandprostheticsresearch[8],[9],poseestimation.Ofcourse,mostrobotsareequippedwithjoint[10].Chen[11]hadtheobjectiveofmappingandv
3、alidatingangleencodersforposeestimationandend-effectorpositioning.humanmotionusingspecially-builtIMUs.ValidationprocessHowever,insomesituations,it’snotpossibleornotdesirabletointroduceencodersonalljoints.Suchcommonexamplesincludeforthismethodwasbasedondatafromtwomotioncaptu
4、releggedlocomotion,dualarmco-manipulation,andprostheticsystems.Workdescribedin[12]recoveredjointanglesofthelimbs.Totacklesuchsituations,onesolutionistoembedinertiallowerlimbsthroughabsoluteanglesofbodysegments,whichmeasurementunits(IMUs)intoartificialskinpatchesplacedonwerec
5、alculatedusingaccelerometerdata.A20-subjectstudyrobots’limbsandbody.ThisworkanalyzestheeffectsofdesignbyLin[8]reportedamethodwithlowjointangleerrorparameterssuchasthenumberofsensors,theirplacementontherobot,andnoisepropertiesonthequalityofrobotposethatuseddatafromIMUsplaced
6、oneachlimbsegmentestimationanditssignal-to-noiseRatio(SNR).Westudytheofthelowerbodyofthesubjects,andwasbasedonanbenefitsofusingalargenumberofIMUs,whichispossibledueExtendedKalmanFilterforstateestimation.Atechniquetotheproliferationofinexpensivemicro-machinedsensors.Webasedon
7、kinematicconstraintsofhingeandsphericaljointsuseMonte-Carlosimulationsandexperimentswithatwo-linkwasreportedbySeel[9].El-Goharywasabletoextractrobotarmtoobtainthedistributionsofexpectedestimationerrormetricvaluesforseveralaccelerometerconfigurations,jointangleandpositiondata
8、fromIMUsplacedonahumanwhicharethencomparedtodeterminetheoptimalnumbershoulderusing
