# Tag Info

### Use data from gyroscope to calculate orientation

gyroscopes do not measure [dRoll ,...] they measure body rates. These are not the same things. There is a transformation matrix ( that I do not have on hand) that relates body rates to euler rates. ...
• 1,825
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### Stabilising an inverted pendulum

There are lots of ways to solve this problem, which falls into the category of Control Engineering. There are two standard approaches: Classical Control: The control command has to be proportional ...
• 1,238

### What does "6 degrees of freedom" mean?

Most "meters" of all varieties include up to three degrees of freedom simply to observe all three dimensions of reality we find ourselves in. That said, every object in our three space has three ...
• 95
Accepted

• 2,349
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### Is increasing gyro , accelerometer sensor range is good or bad ? how does it affect the accuracy

The smaller the range, the more sensitive the device will be. So, in that sense, a smaller range is better. However, the downside of a smaller range is that movement of the robot will be more likely ...
• 6,337

### How can I filter Gyroscopic data?

$1^\circ/s$ does not seem to be very catastrophic. The noise seems quite low. More interesting is if your euler angles are stable and drift-free. Then you can control the pitch and roll error based on ...
• 2,964
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### Structuring EKF to estimate pose and velocity with odometry inputs

Great question! Your intuition is correct. I would do this: Put the state $x$, and expected velocities at the current time $t$, $v$ as the vector to estimate. Use estimated velocities to predict ...
• 5,182

### Can a Jacobian matrix be used to derive joint angles from end-effector linear and rotational velocity (without a filter)?

Joint angles can be determined by looking at the gravity vector of each accelerometer. The paper Low-cost Accelerometers for Robotic Manipulator Perception by Morgan Quigley, Reuben Brewer, Sai P. ...
• 5,245
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### Gyroscope - How can I remove low frequency component with a high pass filter only?

:UPDATED: This is the last update I'm going to make to this answer because I feel like you are repeatedly redefining your question. You have already designed a Butterworth filter that removes the DC ...
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