Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs
This article addresses the problems of online estimations of kinematic and dynamic states of a mechanism from a sequence of noisy measurements. In particular, we focus on a planar four-bar linkage equipped with inertial measurement units (IMUs). Firstly, we describe how the position, velocity, and a...
| Main Authors: | , , , , |
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| Format: | info:eu-repo/semantics/article |
| Language: | English |
| Published: |
MDPI
2020
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| Subjects: | |
| Online Access: | http://hdl.handle.net/10835/7333 |
| _version_ | 1789406304634142720 |
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| author | Torres Moreno, José Luis Blanco Claraco, José Luis Giménez Fernández, Antonio Sanjurjo, Emilio Naya, Miguel Ángel |
| author_facet | Torres Moreno, José Luis Blanco Claraco, José Luis Giménez Fernández, Antonio Sanjurjo, Emilio Naya, Miguel Ángel |
| author_sort | Torres Moreno, José Luis |
| collection | DSpace |
| description | This article addresses the problems of online estimations of kinematic and dynamic states of a mechanism from a sequence of noisy measurements. In particular, we focus on a planar four-bar linkage equipped with inertial measurement units (IMUs). Firstly, we describe how the position, velocity, and acceleration of all parts of the mechanism can be derived from IMU signals by means of multibody kinematics. Next, we propose the novel idea of integrating the generic multibody dynamic equations into two variants of Kalman filtering, i.e., the extended Kalman filter (EKF) and the unscented Kalman filter (UKF), in a way that enables us to handle closed-loop, constrained mechanisms, whose state space variables are not independent and would normally prevent the direct use of such estimators. The proposal in this work is to apply those estimators over the manifolds of allowed positions and velocities, by means of estimating a subset of independent coordinates only. The proposed techniques are experimentally validated on a testbed equipped with encoders as a means of establishing the ground-truth. Estimators are run online in real-time, a feature not matched by any previous procedure of those reported in the literature on multibody dynamics. |
| format | info:eu-repo/semantics/article |
| id | oai:repositorio.ual.es:10835-7333 |
| institution | Universidad de Cuenca |
| language | English |
| publishDate | 2020 |
| publisher | MDPI |
| record_format | dspace |
| spelling | oai:repositorio.ual.es:10835-73332023-04-12T19:28:28Z Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs Torres Moreno, José Luis Blanco Claraco, José Luis Giménez Fernández, Antonio Sanjurjo, Emilio Naya, Miguel Ángel kinematics dynamics of multibody systems simulation state estimation Kalman filter testbed inertial measurement units This article addresses the problems of online estimations of kinematic and dynamic states of a mechanism from a sequence of noisy measurements. In particular, we focus on a planar four-bar linkage equipped with inertial measurement units (IMUs). Firstly, we describe how the position, velocity, and acceleration of all parts of the mechanism can be derived from IMU signals by means of multibody kinematics. Next, we propose the novel idea of integrating the generic multibody dynamic equations into two variants of Kalman filtering, i.e., the extended Kalman filter (EKF) and the unscented Kalman filter (UKF), in a way that enables us to handle closed-loop, constrained mechanisms, whose state space variables are not independent and would normally prevent the direct use of such estimators. The proposal in this work is to apply those estimators over the manifolds of allowed positions and velocities, by means of estimating a subset of independent coordinates only. The proposed techniques are experimentally validated on a testbed equipped with encoders as a means of establishing the ground-truth. Estimators are run online in real-time, a feature not matched by any previous procedure of those reported in the literature on multibody dynamics. 2020-01-16T08:43:28Z 2020-01-16T08:43:28Z 2016-03-04 info:eu-repo/semantics/article 1424-8220 http://hdl.handle.net/10835/7333 en https://www.mdpi.com/1424-8220/16/3/333 Attribution-NonCommercial-NoDerivatives 4.0 Internacional http://creativecommons.org/licenses/by-nc-nd/4.0/ info:eu-repo/semantics/openAccess MDPI |
| spellingShingle | kinematics dynamics of multibody systems simulation state estimation Kalman filter testbed inertial measurement units Torres Moreno, José Luis Blanco Claraco, José Luis Giménez Fernández, Antonio Sanjurjo, Emilio Naya, Miguel Ángel Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs |
| title | Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs |
| title_full | Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs |
| title_fullStr | Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs |
| title_full_unstemmed | Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs |
| title_short | Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs |
| title_sort | online kinematic and dynamic-state estimation for constrained multibody systems based on imus |
| topic | kinematics dynamics of multibody systems simulation state estimation Kalman filter testbed inertial measurement units |
| url | http://hdl.handle.net/10835/7333 |
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