Abstract
Re-creating the movement of an object consisting of articulated rigid bodies is an issue that concerns both mechanical and biomechanical systems. In the case of biomechanical systems, movement re-storation allows, among other things, introducing changes in training or rehabilitation exercises. Motion recording, both in the case of mechanical and biomechanical systems, can be carried out with the use of sensors recording motion parameters or vision systems and with hybrid solutions. This article presents a method of measuring motion parameters with IMU (Inertial Measurement Unit) sensors. The main assumption of the article is to present the method of data estimation from the IMU sensors for the given time moment on the basis of data from the previous time moment. The tested system was an industrial robot, because such a system allows identifying the measurement errors from IMU sensors and estimating errors basing on the reference measurements from encoders. The aim of the research is to be able to re-create the movement parameters of an object consisting of articulated rigid bodies on the basis of incomplete measurement information from sensors. The developed algorithms can be used in the diagnostics of mechanical systems as well as in sport or rehabilitation. Limiting sensors will allow, for example, athletes defining mistakes made during training only on the basis of measurements from one IMU sensor, e.g., installed in a smartphone. Both in the case of rehabilitation and sports, minimizing the number of sensors allows increasing the comfort of the person performing a given movement as part of the measurement.
Highlights
IntroductionThis article presents the problem of re-creating the motion of a system consisting of articulated rigid bodies
Measurement errors of IMU sensors were determined on the basis of calculating the difference between the values of parameters from IMU sensors and the measurement from the VICON marker vision system, which was taken as the reference measurement
This article examines the possibility of reducing the number of measurement data, which would not result in a significant increase in the measurement error
Summary
This article presents the problem of re-creating the motion of a system consisting of articulated rigid bodies. The motion was reproduced on the basis of data from IMU Measurement Unit) sensors-angular velocity and linear acceleration. The mechanical parameters measured from the IMU sensors made it possible to calculate the torsion angles of individual members, i.e., the necessary parameter to re-create the movement of a given system. Measurement errors of IMU sensors were determined on the basis of calculating the difference between the values of parameters from IMU sensors and the measurement from the VICON marker vision system, which was taken as the reference measurement. The main goal of this article is to define the minimum number of IMU sensors that would allow re-creating the motion of a system consisting of articulated rigid bodies. Man has been replaced with an industrial robot
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
