Master Manipulator Orientation Determination Method Using Extended Kalman Filter

The paper describes orientation determination method used by sensor system installed in a novel master manipulator device. Also, there is a description of Extended Kalman Filter procedure prepared to be used with applied custom made sensor system. The explanation on the device and sensor system principle of work, test procedure description and some experiment results are presented as well. In addition, a number of possibilities are showed on how to use the presented method in a larger variety of mechatronic systems.