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Conference Paper
Modeling and Performance Evaluation of 6-Axis Robot Attitude Sensor
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- Issue Date
- 2023-10
- Citation
- International Conference on Information and Communication Technology Convergence (ICTC) 2023, pp.1-3
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- We propose a method for modeling a 6-axis robot attitude sensor which measures the orientation of the robot platform on which the sensor is installed. We avoid the technical difficulty in applying the unit step input for analyzing the sensor output in the time domain by employing a simple ramp input. We can still obtain a step response from the ramp input and moreover, provide an easy way of identifying the system transfer function of the robot attitude sensor. Based on the proposed method, we can accurately characterize the robot attitude sensor and provide a solution to reshape its output to meet any field requirements, such as those from 3D robot mapping, autonomous navigation, and robot motion control in the outdoor environment. We demonstrate the feasibility of the proposed method using the experimental result obtained by applying a ramp input to a sophisticated motion control device on which the robot attitude sensor prototype is installed.
- KSP Keywords
- Control device, Experimental Result, Modeling and performance evaluation, Outdoor environments, Robot Motion Control, Robot Platform, Robot mapping, Step input, Step response, attitude sensor, autonomous navigation