Manipulator Motion Tracking Conceptual Model

The paper deals with the problem of low accuracy of movement of low-cost manipulators. A hardware-software architecture of the tracking system is proposed, which is based on four data sources: an accelerometer, a gyroscope, a laser range finder, and a video camera. An experimental prototype based on the proposed architecture has been developed. A digital model of a robotic arm was created. Also, a module that calculates the error of the movement of the manipulator was developed. Experiments were carried out to obtain an estimate of the accuracy of the manipulator movement according to two metrics: the angles between the links and the distance to the captured object.