IMU-Based Motion Capture Using Madgwick Filter with 3D Visualization for Robot Teleoperations

This paper presents the development of an arm motion capture system incorporating 3D visualization for visual feedback in robot arm teleoperation. The motion capture devices employed are Magnetic, Angular Rate, and Gravity (MARG) sensors, which are a combination of accelerometer, gyroscope, and magnetometer. The data from these sensors have to be fused to obtain information to control robot arm. Given the inherent noise in sensor data, the Madgwick filter algorithm is employed to enhance the quality of processed data. This algorithm offers processing options tailored for either Inertial Measurement Unit (IMU) sensors (excluding magnetometers) or complete MARG sensors. The acquired angles are transmitted to robot arm via MQTT communication protocol. The results obtained from Madgwick filter algorithm processing method for MARG sensor has been proven to be more accurate. By fusing IMU data with magnetometer readings, the performance of robot arm teleoperation can be enhanced.