Using Inertia Sensors for Orientation Estimation of Robot Manipulators

  • Dler Salih Hasan Dept. of Computer Science, College of Science, Salahaddin University-Erbil,Kurdstan Rign,Iraq
  • Carl Crane III Dept. of Mechanical & Aerospace Engineering University of Florida Gainesville-USA
  • Ibrahim I. Hamarash Dept. of Computer Science and Engineering University Of Kurdistan-Hewler Erbil,Iraq
Keywords: Robotics; 9 DOF- IMU; 3 Axis -Accelerometer; extended Kalman filter EKF, Rotational matrix; Orientation.


This research seeks to obtain comprehensive information regarding the relative orientation of two rigid bodies that have a common point.  The study aims to acquire the results through focusing on information from the instantaneous sensor measurements only.  Additionally, the study intends to use achieve its goals by using data obtained from Three 3 axis ADXL 345 accelerometers and one 9 DOF -IMU which contains (accelerometer, magnetometer and Gyroscope sensors) attached to each links of a robot manipulator. Electronic circuit board has been designed using Arduino microcontroller to acquire sensor data from each link. Extended Kalman filter (EKF) is used in Arduino sketch for data filtering and fusion. A model is proposed and programed using MATLAB software for estimation Euler angles and orientation of the Robot Manipulator.  The results that have been obtained are in perfect match with the results obtained from both Mahony and Madgwick methods.


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How to Cite
Salih Hasan, D., C. Crane III, and I. I. Hamarash. “Using Inertia Sensors for Orientation Estimation of Robot Manipulators”. ZANCO Journal of Pure and Applied Sciences, Vol. 31, no. s3, Aug. 2019, pp. 318-23, doi:10.21271/ZJPAS.31.s3.44.