Low-cost Accelerometers for Robotic Manipulator Perception

We present a series of experiments which explore the use of consumer-grade accelerometers as joint position sensors for robotic manipulators. We show that 6- and 7-dof joint angle estimation is possible by using one 3-d accelerometer for each pair of joints. We demonstrate two calibration approaches and experimental results using accelerometer-based control in both position-control and torque-control regimes. We present a manipulator design combining accelerometer-based sensing with low-cost actuation, and conclude by demonstrating the utility of consumer-grade accelerometers even on high-precision manipulators. Authors: Morgan Quigley, Reuben Brewer, Sai P. Soundararaj, Vijay Pradeep, Quoc V. Le, Andrew Y. Ng (2010)
AUTHORED BY
Morgan Quigley
Reuben Brewer
Sai P. Soundararaj
Vijay Pradeep
Quoc V. Le
Andrew Y. Ng

Abstract

We present a series of experiments which explore the use of consumer-grade accelerometers as joint position sensors for robotic manipulators. We show that 6- and 7-dof joint angle estimation is possible by using one 3-d accelerometer for each pair of joints. We demonstrate two calibration approaches and experimental results using accelerometer-based control in both position-control and torque-control regimes. We present a manipulator design combining accelerometer-based sensing with low-cost actuation, and conclude by demonstrating the utility of consumer-grade accelerometers even on high-precision manipulators.

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