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Time and Frequency Domain Analysis of IMU-Based Orientation Estimation Algorithms with Comparison to Robotic Arm Orientation as Reference

This work focuses on time and frequency domain analyses of IMU-based orientation estimation algorithms, including indirect Kalman (IKF), Madgwick (MF), and complementary (CF) filters. Euler angles and quaternions are used for orientation representation. A 6-DoF IMU is attached to a 6-joint UR5e robo...

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Principais autores: Ruslan Sultan, Steffen Greiser
Format: Artigo
Sprog:Inglês
Udgivet: MDPI AG 2025-08-01
Serier:Sensors
Fag:
inertial measurement unit
orientation estimation
sensor fusion
robotic arm
time domain evaluation
frequency domain evaluation
Online adgang:https://www.mdpi.com/1424-8220/25/16/5161
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