We learn how to use information from three accelerometers to determine orientation.
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All animals have a variety of senses that help them in everyday life. We’ll talk about interesting non-human senses that some animals possess and the often overlooked human sense of balance which is based on accelerometers and gyroscopes in our vestibular system.
We recap the important points from this masterclass.
We learn how accelerometers and gyroscopes can be combined into an inertial navigation system capable of estimating position and orientation of a vehicle, without GPS.
In a serial-link manipulator arm each joint has to support all the links between itself and the end of the robot. We introduce the recursive Newton-Euler algorithm which allows us to compute the joint torques given the robot joint positions, velocities and accelerations and the link inertial parameters.
We will learn the essentials of inertial navigation, about sensors such as accelerometers, gyroscopes and magnetometers and how we can use the information they provide to estimate our motion and orientation in 3D space.
We learn how to use information from three magnetometers to determine the direction of the Earth’s north magnetic pole.
We will learn how to create coordinate frames that have smoothly changing position and orientation over time.