Manipulator Motion Tracking Conceptual Model
The paper deals with the problem of low accuracy of movement of low-cost manipulators. A hardware-software architecture of the tracking system is proposed, which is based on four data sources: an accelerometer, a gyroscope, a laser range finder, and a video camera. An experimental prototype based on...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
FRUCT
2022-04-01
|
| Series: | Proceedings of the XXth Conference of Open Innovations Association FRUCT |
| Subjects: | |
| Online Access: | https://www.fruct.org/publications/acm31/files/Reg.pdf |
| _version_ | 1818231651588636672 |
|---|---|
| author | Grigorij Rego Nikita Bazhenov Ludmila Schegoleva |
| author_facet | Grigorij Rego Nikita Bazhenov Ludmila Schegoleva |
| author_sort | Grigorij Rego |
| collection | DOAJ |
| description | The paper deals with the problem of low accuracy of movement of low-cost manipulators. A hardware-software architecture of the tracking system is proposed, which is based on four data sources: an accelerometer, a gyroscope, a laser range finder, and a video camera. An experimental prototype based on the proposed architecture has been developed. A digital model of a robotic arm was created. Also, a module that calculates the error of the movement of the manipulator was developed. Experiments were carried out to obtain an estimate of the accuracy of the manipulator movement according to two metrics: the angles between the links and the distance to the captured object. |
| first_indexed | 2024-12-12T10:53:47Z |
| format | Article |
| id | doaj.art-1671128940cb49d7a2a5035e21827b37 |
| institution | Directory Open Access Journal |
| issn | 2305-7254 2343-0737 |
| language | English |
| last_indexed | 2024-12-12T10:53:47Z |
| publishDate | 2022-04-01 |
| publisher | FRUCT |
| record_format | Article |
| series | Proceedings of the XXth Conference of Open Innovations Association FRUCT |
| spelling | doaj.art-1671128940cb49d7a2a5035e21827b372022-12-22T00:26:43ZengFRUCTProceedings of the XXth Conference of Open Innovations Association FRUCT2305-72542343-07372022-04-0131245045810.5281/zenodo.6519943Manipulator Motion Tracking Conceptual ModelGrigorij Rego0Nikita Bazhenov1Ludmila Schegoleva2Petrozavodsk State University, RussiaPetrozavodsk State University, RussiaPetrozavodsk State University, RussiaThe paper deals with the problem of low accuracy of movement of low-cost manipulators. A hardware-software architecture of the tracking system is proposed, which is based on four data sources: an accelerometer, a gyroscope, a laser range finder, and a video camera. An experimental prototype based on the proposed architecture has been developed. A digital model of a robotic arm was created. Also, a module that calculates the error of the movement of the manipulator was developed. Experiments were carried out to obtain an estimate of the accuracy of the manipulator movement according to two metrics: the angles between the links and the distance to the captured object.https://www.fruct.org/publications/acm31/files/Reg.pdfmovement accuracymanipulatorimu-sensorvideo datadigital model |
| spellingShingle | Grigorij Rego Nikita Bazhenov Ludmila Schegoleva Manipulator Motion Tracking Conceptual Model Proceedings of the XXth Conference of Open Innovations Association FRUCT movement accuracy manipulator imu-sensor video data digital model |
| title | Manipulator Motion Tracking Conceptual Model |
| title_full | Manipulator Motion Tracking Conceptual Model |
| title_fullStr | Manipulator Motion Tracking Conceptual Model |
| title_full_unstemmed | Manipulator Motion Tracking Conceptual Model |
| title_short | Manipulator Motion Tracking Conceptual Model |
| title_sort | manipulator motion tracking conceptual model |
| topic | movement accuracy manipulator imu-sensor video data digital model |
| url | https://www.fruct.org/publications/acm31/files/Reg.pdf |
| work_keys_str_mv | AT grigorijrego manipulatormotiontrackingconceptualmodel AT nikitabazhenov manipulatormotiontrackingconceptualmodel AT ludmilaschegoleva manipulatormotiontrackingconceptualmodel |