JB Robotics IMU Product Information:

Robots often need to use an IMU (Inertial Measurement Unit) for guidance and control.

IMU's can be expensive and difficult to use, so Prof. Bobrow designed one that would be less expensive, easier to use, and could be incorporated into Arduino microcontroller projects.

The primary design goals of the IMU were:
  • high performance
  • ease of use with an Arduino microcontroller
  • low cost
The JB Robotics IMU uses the coordinate frame described in this website, and it computes:
  • the roll, pitch, and yaw angles
  • their time-derivatives
  • the acceleration in the base frame
Dimensions: 1.0 x 0.75 inches

Supply Voltage: 3.3 volts

Interface Pins: 5 volt tolerant

Power Consumption: 75 milliamps

Microcontroller: Microchip DSPIC33FJ64MC202

Gryo: ST Microelectronics L3G4200D

Accelerometer/Magnetometer: ST Microelectronics LSM303DLHC

Output Data in SPI Mode:
  • Roll, Pitch, and Yaw (degrees100) with typical accuracy within 0.2 degrees for normal motions
  • Roll Rate, Pitch Rate, and Yaw Rate (degrees/sec10)
  • Acceleration in inertial x, y, z, frame (gs10000)
Output Data Transfer to Arduino over SPI: less than 0.0008 seconds

ASCII Output Data for Roll, Pitch, and Yaw: 115200 baud, 50 Hz

Algorithm:
  • Quaternion-based
  • Uses Sequential Quadratic Programming for Quaternion updates
  • Update rate: 250 Hz with internal DMA data transfer
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