伙伴机器人惯性力传感系统

Y. Nonomura, M. Fujiyoshi, H. Sugihara
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引用次数: 3

摘要

研制了一种用于伙伴机器人控制的惯性力传感系统。我们将这个系统命名为MOST(运动感应技术)。MOST由3个角速率传感器、3个加速度传感器和一个DSP(数字信号处理器)组成。加速度传感器为半导体型,角速率传感器为石英型。该传感器已采用MEMS(微电子机械系统)技术,用于量产汽车。它们有利于传感单元的小型化。姿态角一般由角速率随时间的积分得到。但由于输出积分偏置,姿态角存在发散。提出了一种实时抑制姿态角发散的新算法。在2005年日本爱知世博会上,丰田合作伙伴的机器人展示了传感系统MOST的性能。
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Inertial Force Sensing System for Partner Robots
An inertial force sensing system for partner robot control has been developed. We named this system MOST (MOtion Sensing Technology). The MOST consists of 3 angular rate sensors, 3 acceleration sensors, and a DSP (digital signal processor). The acceleration sensor is a semiconductor type and the angular rate sensor is a quartz type. The sensors have been made by MEMS (micro electro mechanical systems) technology for mass-produced cars. They are good for miniaturization of the sensing unit. Posture angle is generally obtained by integrating the angular rate over time. However, there was the divergence of the posture angle due to the offset output integration. New algorithm was proposed to suppress the divergence of the posture angle with the DSP in real-time. The performance of the sensing system, MOST, was demonstrated on the TOYOTA partner robots in the EXPO 2005 Aichi, Japan.
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