Timeline for IMU based joint angle measurement
Current License: CC BY-SA 4.0
4 events
| when toggle format | what | by | license | comment | |
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| Aug 21, 2019 at 15:56 | comment | added | Joe | Right after the calibration, the reading values (roll, pitch ,yaw) are all equal to zero. After rotating the first axis for 10 deg. the second roll is about at 8 deg. I think the deviation comes from the gyro. Since the first and second axes are physically connected, the acceleration values should be the same although the IMUs are differently positioned. But the gyro values can not be the same because the 2. gyro is placed on the center of gravity of the second link. | |
| Aug 21, 2019 at 15:10 | comment | added | abhishek47 | At the home position, what are the IMU readings? | |
| Aug 20, 2019 at 16:26 | comment | added | Joe | But then it means that the rotation of the first axis causes exactly the same roll values on both IMUs : let's assume the first axis rotated for 10 deg. around x axis -> the first roll is 10 deg. and the second axis didn't rotate but because of the first axis it's roll is at 8 deg. Now, the second roll becomes -2 deg. ? | |
| Aug 20, 2019 at 15:47 | history | answered | abhishek47 | CC BY-SA 4.0 |