Theoretical background of using IMU which includes (Accelerometer , Gyroscope, Magnetometer)

Theoretical background of using  IMU which includes (Accelerometer , Gyroscope, Magnetometer) and Accelerometers in calculation of human and robotic angle and other parameters  
1-Background of using sensors to find robot and human parameters
2-Sensors background
a.9DOF IMU
b.Accelerometer
c.Magnetometers
d.Gyroscope
3-Sensor filtering
a.Background
b.Low pass filter
c.Kalman filter
4-Robot parameter calculation in 3 dimension
a.Angular velocity
b.Angular acceleration
c.Torque

Please include equation flow chart and figs


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