Effect of IMU sensor positioning on 1-DOF angle measurement accuracy for robotic charging station (RoCharg-v1) manipulator

Abstract

This study investigates the effect of IMU sensor positioning on 1-DoF angle measurement accuracy for a robotic charging station manipulator (RoCharg-v1). The accuracy and reliability of IMU sensors can vary due to noise, bias, calibration, and drift effects. Additionally, the position of IMU sensors can also affect accuracy. In this study, three IMU sensors were placed on the manipulator robot, and their readings were analyzed to determine the optimal sensor placement for accurate and reliable measurements. The results indicate that varying the position of IMU sensors can cause significant errors in angle measurement, while the signal response is minimally affected by positioning. Based on the experimental results, the optimal sensor position for this case is at the end of the robot arm. This research provides valuable insights into manipulator robot development and can serve as a basis for future research.