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Towards Automatic Operation Motion Tracking Algorithm Based on Inertial Sensors for Multi Joints Machinery

This paper presents a novel method for multi joints machinery motion tracking, which is useful for automatic operation. Heavy machinery such as excavator bulldozer forklift and grader are with multiple arms for particular tasks. These arms with rotation motion will change the dimensional coordinates accordingly. Thus, the motion tracking will give the feedback for automatic control and realize the unmanned operation in the end. Inertial measurement units (IMUs) are designed with 6D MEMS sensors. Calibration method is studied and the installation error is corrected. Extend Kalman filter is designed for dynamic motion tracking. The acceleration chip structure is also studied for later on ASIC design. Experimental result shows that the dynamic angle error is better than 0.1 degree for every joint of a robot arm, which proves the dynamic tracking method.