Using 9-Axis Sensor for Precise Cardiosurgical Robot Master Angular Position Determination

摘要

The article will focus on the presentation of the possibility of practical application of integrated 9-axis sensor, in which magnetic field, acceleration and angular velocity 3-axis sensors were used. Particular emphasis will be placed to describe the mentioned sensors data fusion algorithm, which is necessary for precise and unequivocal determination of the angular position of the tested device. Another presented issue is a selection of an appropriate data filtering algorithm with selected filtering parameters. Additionally, the possibility of implementing described solutions in the angular positions measurement system of cardiosurgical Robin Heart robot master will be shown. Also, a design concept of mentioned robot master along with its working principle will be mentioned.