IMU-Based Trajectory Generation and Modelling of 6-DOF Robot Manipulators

Abstract

This paper proposes a methodology based on Inertial Measurement Units (IMU's) and sensor fusion for the trajectory tracking performed by a human expert, estimating orientation in two dimensions and position in three dimensions. In addition, involving modeling of robot manipulators and the acquired trajectory, a kinematic control is generated for the robot programming. Experimental results have shown that this method is capable of acquire the trajectory performed by a human without the use of expensive Computational Video Systems (SVC's).