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Automatic calibration of a motion capture system based on inertial sensors for tele-manipulation

 
: Hoffmann, J.; Brüggemann, B.; Krüger, B.

Filipe, J. ; Institute for Systems and Technologies of Information, Control and Communication -INSTICC-, Setubal; International Federation of Automatic Control -IFAC-:
7th International Conference on Informatics in Control, Automation and Robotics 2010. Proceedings. Vol.2 : Funchal, Madeira, Portugal, June 15 - 18, 2010
SciTePress, 2010
ISBN: 9789898425010
pp.121-128
International Conference on Informatics in Control, Automation and Robotics (ICINCO) <7, 2010, Funchal>
English
Conference Paper
Fraunhofer FKIE

Abstract
We introduce an intuitive way of controlling a manipulator. This control should fulfill several constraints like low room consuming and operable in a short time. With this constraints in mind we chose an inertial sensor based motion capturing system. Such systems have to be adapted to the user. We present a method to adapt the system by a fast calibration while it is been used. The calibration does not require specified given motions. The soundness of the system is shown in synthetic and real experiments.

: http://publica.fraunhofer.de/documents/N-188449.html