An Encoder-Free Joint Velocity Estimation Method for Serial Manipulators Using Inertial Sensors
Xiaolong Xu Yujie Sun Xincheng Tian Lelai Zhou Yibin Li Xiaolong Xu Yujie Sun Xincheng Tian Lelai Zhou Yibin Li
This paper focuses on developing a real-time and flexible velocity estimation approach for serial revolute manipulator using only one inertial measurement unit (IMU) mounted on each link side of the manipulator. Particularly, the proposed approach has no requirement for the installation position and orientation of the IMU, which improves the flexibility of the implementation procedure. A joint vel...