Effect of IMU sensor positioning on 1-DOF angle measurement accuracy for robotic charging station (RoCharg-v1) manipulator
This study investigates the effect of IMU sensor positioning on 1-DoF angle measurement accuracy for a robotic charging station manipulator (RoCharg-v1). The accuracy and reliability of IMU sensors can vary due to noise, bias, calibration, and drift effects. Additionally, the position of IMU sensors...
| Main Authors: | , , , , , |
|---|---|
| Format: | Conference or Workshop Item |
| Published: |
2023
|
| Subjects: |
| _version_ | 1817854297751158784 |
|---|---|
| author | Hendri Maja Saputra, Hendri Maja Saputra Tesya Permadi, Tesya Permadi Catur Hilman A. H. B. Baskoro, Catur Hilman A. H. B. Baskoro Mohd. Nor, Nur Safwati Bany Abdussalam, Bany Abdussalam Muhammad Yudhi Rezaldi, Muhammad Yudhi Rezaldi |
| author_facet | Hendri Maja Saputra, Hendri Maja Saputra Tesya Permadi, Tesya Permadi Catur Hilman A. H. B. Baskoro, Catur Hilman A. H. B. Baskoro Mohd. Nor, Nur Safwati Bany Abdussalam, Bany Abdussalam Muhammad Yudhi Rezaldi, Muhammad Yudhi Rezaldi |
| author_sort | Hendri Maja Saputra, Hendri Maja Saputra |
| collection | ePrints |
| description | This study investigates the effect of IMU sensor positioning on 1-DoF angle measurement accuracy for a robotic charging station manipulator (RoCharg-v1). The accuracy and reliability of IMU sensors can vary due to noise, bias, calibration, and drift effects. Additionally, the position of IMU sensors can also affect accuracy. In this study, three IMU sensors were placed on the manipulator robot, and their readings were analyzed to determine the optimal sensor placement for accurate and reliable measurements. The results indicate that varying the position of IMU sensors can cause significant errors in angle measurement, while the signal response is minimally affected by positioning. Based on the experimental results, the optimal sensor position for this case is at the end of the robot arm. This research provides valuable insights into manipulator robot development and can serve as a basis for future research. |
| first_indexed | 2024-12-08T06:55:54Z |
| format | Conference or Workshop Item |
| id | utm.eprints-108345 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-12-08T06:55:54Z |
| publishDate | 2023 |
| record_format | dspace |
| spelling | utm.eprints-1083452024-10-27T06:05:31Z http://eprints.utm.my/108345/ Effect of IMU sensor positioning on 1-DOF angle measurement accuracy for robotic charging station (RoCharg-v1) manipulator Hendri Maja Saputra, Hendri Maja Saputra Tesya Permadi, Tesya Permadi Catur Hilman A. H. B. Baskoro, Catur Hilman A. H. B. Baskoro Mohd. Nor, Nur Safwati Bany Abdussalam, Bany Abdussalam Muhammad Yudhi Rezaldi, Muhammad Yudhi Rezaldi TJ Mechanical engineering and machinery This study investigates the effect of IMU sensor positioning on 1-DoF angle measurement accuracy for a robotic charging station manipulator (RoCharg-v1). The accuracy and reliability of IMU sensors can vary due to noise, bias, calibration, and drift effects. Additionally, the position of IMU sensors can also affect accuracy. In this study, three IMU sensors were placed on the manipulator robot, and their readings were analyzed to determine the optimal sensor placement for accurate and reliable measurements. The results indicate that varying the position of IMU sensors can cause significant errors in angle measurement, while the signal response is minimally affected by positioning. Based on the experimental results, the optimal sensor position for this case is at the end of the robot arm. This research provides valuable insights into manipulator robot development and can serve as a basis for future research. 2023-10-18 Conference or Workshop Item PeerReviewed Hendri Maja Saputra, Hendri Maja Saputra and Tesya Permadi, Tesya Permadi and Catur Hilman A. H. B. Baskoro, Catur Hilman A. H. B. Baskoro and Mohd. Nor, Nur Safwati and Bany Abdussalam, Bany Abdussalam and Muhammad Yudhi Rezaldi, Muhammad Yudhi Rezaldi (2023) Effect of IMU sensor positioning on 1-DOF angle measurement accuracy for robotic charging station (RoCharg-v1) manipulator. In: 0th International Conference on Computer, Control, Informatics and its Applications, IC3INA 2023, 04 October 2023 - 5 October 2023, Virtual, Bandung, Indonesia. http://dx.doi.org/10.1109/IC3INA60834.2023.10285798 |
| spellingShingle | TJ Mechanical engineering and machinery Hendri Maja Saputra, Hendri Maja Saputra Tesya Permadi, Tesya Permadi Catur Hilman A. H. B. Baskoro, Catur Hilman A. H. B. Baskoro Mohd. Nor, Nur Safwati Bany Abdussalam, Bany Abdussalam Muhammad Yudhi Rezaldi, Muhammad Yudhi Rezaldi Effect of IMU sensor positioning on 1-DOF angle measurement accuracy for robotic charging station (RoCharg-v1) manipulator |
| title | Effect of IMU sensor positioning on 1-DOF angle measurement accuracy for robotic charging station (RoCharg-v1) manipulator |
| title_full | Effect of IMU sensor positioning on 1-DOF angle measurement accuracy for robotic charging station (RoCharg-v1) manipulator |
| title_fullStr | Effect of IMU sensor positioning on 1-DOF angle measurement accuracy for robotic charging station (RoCharg-v1) manipulator |
| title_full_unstemmed | Effect of IMU sensor positioning on 1-DOF angle measurement accuracy for robotic charging station (RoCharg-v1) manipulator |
| title_short | Effect of IMU sensor positioning on 1-DOF angle measurement accuracy for robotic charging station (RoCharg-v1) manipulator |
| title_sort | effect of imu sensor positioning on 1 dof angle measurement accuracy for robotic charging station rocharg v1 manipulator |
| topic | TJ Mechanical engineering and machinery |
| work_keys_str_mv | AT hendrimajasaputrahendrimajasaputra effectofimusensorpositioningon1dofanglemeasurementaccuracyforroboticchargingstationrochargv1manipulator AT tesyapermaditesyapermadi effectofimusensorpositioningon1dofanglemeasurementaccuracyforroboticchargingstationrochargv1manipulator AT caturhilmanahbbaskorocaturhilmanahbbaskoro effectofimusensorpositioningon1dofanglemeasurementaccuracyforroboticchargingstationrochargv1manipulator AT mohdnornursafwati effectofimusensorpositioningon1dofanglemeasurementaccuracyforroboticchargingstationrochargv1manipulator AT banyabdussalambanyabdussalam effectofimusensorpositioningon1dofanglemeasurementaccuracyforroboticchargingstationrochargv1manipulator AT muhammadyudhirezaldimuhammadyudhirezaldi effectofimusensorpositioningon1dofanglemeasurementaccuracyforroboticchargingstationrochargv1manipulator |