Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer
Tilt estimator for 3D non-rigid pendulum based on a tri-axial accelerometer and gyrometer
The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint for which there is no sensor. The estimation of tilt, i.e. roll and pitch angles, is mandatory for balance …