Monitoring Method of Ball Rolling Motion with Quaternion-Based Signal Processing

Hiroaki Hanai; Yuma Mita; Toshiki Hirogaki; Eiichhi Aoyama

doi:10.4028/p-psCvO9

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Monitoring Method of Ball Rolling Motion with Quaternion-Based Signal Processing
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HomeAdvances in Science and TechnologyAdvances in Science and Technology Vol. 143Monitoring Method of Ball Rolling Motion with...

Monitoring Method of Ball Rolling Motion with Quaternion-Based Signal Processing

Abstract:

In this study, we measured the rolling motion of a spherical six-axis inertial measurement unit (IMU) fabricated via FDM (Fused Deposition Modeling) using wireless communication. When a sphere rolls on a plane, the axis of rotation is undefined, and the amount of rotation is unlimited. Therefore, the conventional Euler angular representation for pose estimation produces singular points (gimbal locks), and a continuous pose representation is not possible. In this paper, we propose an algorithm that incorporates micro-quaternions to achieve continuous posture representation, even at singular points. Subsequently, we discuss its applications.

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Periodical:

Advances in Science and Technology (Volume 143)

Pages:

55-60

DOI:

https://doi.org/10.4028/p-psCvO9

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Online since:

March 2024

Authors:

Hiroaki Hanai*, Yuma Mita, Toshiki Hirogaki, Eiichhi Aoyama

Keywords:

3D Printer, Gimbal Lock, IMU, Pose Estimation, Quaternion, Self-Location Estimation, Wireless Measurement

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* - Corresponding Author

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