Hybrid Intrinsic–Extrinsic Calibration of Multiple IMUs and Joint Encoders for Accurate End-Effector Trajectory Estimation in Aerial Manipulators

Motion estimation of a robotic manipulator is often achieved using encoders when the base is fixed. However, encoders only measure the motion of the actuators and cannot account for the motion of an arm mounted on a mobile platform, such as a drone. In order to estimate the trajectory of a robotic manipulator accurately in an inertial frame of reference, IMUs can be utilized. In this work, we propose a system-wide intrinsic calibration of robotic arms equipped with multiple IMUs. The developed method does not rely on any specific instruments and takes advantage of the forward kinematic model of the robotic manipulator, as well as static phases, to achieve the IMU calibration. Furthermore, the developed method calibrates the encoders of the robotic manipulator as well.