ROBOTIC MAIPULATORS FOR ATTITUDE SESORS CALIBRATIO: MEASUREMET MODEL AD UCERTAITY CALCULATION

Bruno Cabral de Oliveira Dutra

Abstract

Recent works have proposed the use of industrial robots as a standard for intermediary calibrat sensors such as accelerometers and magnetometers. In this paper it is developed the (mathematical) measurement model to be used for the determination of the measurement result and the uncertainty in multiple links robot manipulators. This model relates many random such as the linear and angular positions of theffector, and correction factors for the determination the mean and the measurement uncertainty for a simple three link manipulator case using both the law of uncertainty propagation (LDU) technique and the Monte and the results are compared.

Keywords

measurement model, calibrat sensors, robotic manipulators, attitude and heading reference system

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IMEKO-TC4-2011-078.pdf

DOI

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IMEKO TC

TC4 - Measurement of Electrical Quantities

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