Complementary of quaternion method and Boole’s rule on IMU sensor to calculate orientation angle of Stewart Platform

Abstract

This paper discusses the complement of the Quaternion method and Boole’s rules on the IMU sensor aimed to calculate the orientation angle of the Stewart Platform. Orientation angle validity of The Stewart platform is very difficult to recognize by using manual measuring devices. Thus, it requires an IMU sensor to calculate the orientation angle. The IMU sensor consists of three types of sensors, namely the accelerometer, magnetometer, and gyroscope sensors. The Quaternion method is used to calculate the pitch and roll angle of the accelerometer sensor. It is also used to calculate the yaw angle of the magnetometer sensor. Boole’s rule is used to calculate the pitch, roll, and yaw angles of the sensor gyroscope. Moreover, the orientation angle of accelerometer and magnetometer is combined with the orientation angle of the gyroscope using complementary. The test is carried out in six repetitions with angular parameters: 5º, 10º, 15º, 20º, 25º, 30º. Overall, the pitch angle has an average value of error percentage of 2.31%, roll angle has an average value of error percentage of 1.98%, and yaw angle has an average value of error percentage of 1.63%. The measurement results of the orientation angle of the Stewart Platform using the IMU sensor shows that the complementary quaternion and Boole’s rule on the IMU sensor is quite feasible as measuring instruments for the orientation angel of the Stewart Platform.