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Exploiting Kinematic Constraints to Compensate Magnetic Disturbances when Calculating Joint Angles of Approximate Hinge Joints from Orientation Estimates of Inertial Sensors

From Fachgebiet Regelungssysteme TU Berlin

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Visualization of the Approximate Hinge Joint Movement

Simulation with Magnetic Disturbance

Fig. 1: 3D visualization of the reference movement, joint angles and heading errors for a simulation with a strong magnetic disturbance. Click on the image to see the video animation.

Simulation with Homogeneous Magnetic Field

Fig. 1: 3D visualization of the reference movement, joint angles and heading errors for a simulation with a homogeneous magnetic field. Click on the image to see the video animation.

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