عنوان

Using a 6 - Degrees of Freedom Sensor to Improve Position Estimate of a Rapidly Moving Robot Arm

Number

TLpq2209779619

.Language of Text, Soundtrack etc

انگلیسی

Title Proper

Using a 6 - Degrees of Freedom Sensor to Improve Position Estimate of a Rapidly Moving Robot Arm

General Material Designation

[Thesis]

First Statement of Responsibility

Bokhari, Syed Mohammad Mustafa

Subsequent Statement of Responsibility

Russ, Samuel H.

Name of Publisher, Distributor, etc.

University of South Alabama

Date of Publication, Distribution, etc.

2019

Specific Material Designation and Extent of Item

105

Dissertation or thesis details and type of degree

M.S.E.E.

Body granting the degree

University of South Alabama

Text preceding or following the note

2019

Text of Note

This paper will serve as an introduction to research for thesis in the diverse field of Electrical Engineering, implementing technology to create solutions to benefit the technological advancement. Familiarity and utilization of Degrees of Freedom (DoF) sensors lack severely in demonstration. A DoF sensor may be utilized in many fields, such as healthcare, robotics, automotive industries, etc. To achieve the use of such sensors in the fields mentioned above, a great demonstration of data output is needed and a good communication protocol to handle it. The sensor LSM6DS3 [1], is a 6 - DoF sensor and would operate on the Odroid microcontroller rather than a Raspberry Pi as the Odroid provided faster processing and SPI speeds. The testing of a sensor on fast moving robot arm is necessary when it comes to technological advancement. Since everything is transitioning to automation, a better and cost - effective way to sense position still has not been achieved. The results indicate that while accelerometers do suffer from substantial drift, accurate measurements are possible if zero velocity calibration is performed.

Electrical engineering

Robotics

Bokhari, Syed Mohammad Mustafa

Russ, Samuel H.

Electronic name

p

[Thesis]

276903

a

Y