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Relative Motion Analysis using Rotating Axes-Problem Solving

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Updated: Jun 3, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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Published on: October 14, 2017

A Robust Method for Validating Orientation Sensors Using a Robot Arm as a High-Precision Reference.

József Kuti¹, Tamás Piricz¹, Péter Galambos¹

¹Antal Bejczy Center for Intelligent Robotics, Obuda University, 1034 Budapest, Hungary.

Sensors (Basel, Switzerland)

|January 8, 2025

Summary

This summary is machine-generated.

This study introduces a novel method to accurately validate orientation sensors using a robotic manipulator. The technique allows for precise sensor evaluation without exact alignment, improving robotic system reliability.

Keywords:

MEMS VR headset gyroscope inertial measurement unit orientation sensing robotics

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Area of Science:

Robotics
Sensor Technology
Mechatronics

Background:

Orientation sensors are critical for robotic systems.
Accurate validation of these sensors is challenging.
Existing methods often require precise alignment and controlled conditions.

Purpose of the Study:

To present a robust and efficient method for validating orientation sensor accuracy.
To enable high-precision, automated, and comparative evaluation of sensors.
To facilitate efficient calibration and analysis of sensor errors.

Main Methods:

Utilizing a commercial robotic manipulator as a high-precision reference.
Determining rotational transformations between robot and sensor frames without precise alignment.
Generating repeatable excitation patterns under controlled conditions.

Main Results:

Demonstrated independence from exact rotation measurements between reference and sensor.
Enabled systematic and reproducible sensor testing.
Validated the effectiveness on an Inertial Navigation System module and SLAM-IMU fusion.

Conclusions:

The proposed method offers automated, high-precision validation of orientation sensors.
It addresses challenges in sensor calibration, drift, noise, and response delays.
The approach is versatile and reliable for various orientation sensing devices.