Reverse validation of a programmed robot trajectory based on INS

Abstract

The paper deals with Implementation of inertial navigational system in industrial robot control. The goal of this paper is the verification of the possibility of trajectory control and correction (reverse validation) of a mobile robot, which is based on an implemented inertial navigation system even in situations, when the inertial navigation system is the only trajectory control device. Adjustments to the trajectory of mobile robot are dependent on positional data of the robot, obtained via sensors located on the industrial robot. The mentioned IMU data were processed in real-time with different ways to gather positional information about the movement of the device. An x-IMU was proposed and used as the inertial navigation system an. It was located at the End Point of the robot's effector (EE point). To control the convergence rate, optimized Madgwick AHRS algorithm has been proposed.