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Six-dimensional acceleration acquisition method

An acquisition method and acceleration technology, which is applied in multi-dimensional acceleration measurement, acceleration measurement using inertial force, etc., can solve problems such as the complexity of the six-dimensional acceleration acquisition method

Inactive Publication Date: 2014-06-25
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to solve the complicated problem of the existing six-dimensional acceleration acquisition method, and the present invention provides a six-dimensional acceleration acquisition method

Method used

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specific Embodiment approach 1

[0027] Specific implementation mode one: combine figure 1 Describe this embodiment, a kind of six-dimensional acceleration acquisition method described in this embodiment, described acquisition method is realized based on 8 two-axis accelerometers, and described method comprises the following steps:

[0028] Step 1: Establish a 16 accelerometer detection space model:

[0029] The model is in the form of a cylinder, four two-axis accelerometers are arranged at 90 degrees to each other and form the top surface of the cylinder; the other four two-axis accelerometers are arranged at 90 degrees to each other and form the cylinder The bottom surface of the bottom surface; the positions of the four two-axis accelerometers on the top surface and the four two-axis accelerometers on the bottom surface correspond to each other, and the distance between the top surface and the bottom surface is L, and the radius of the cylinder is R; each two The directions of the two sensitive axes of t...

specific Embodiment approach 2

[0032] Specific Embodiment 2: This embodiment is a further limitation of the six-dimensional acceleration acquisition method described in Specific Embodiment 1. The direction of any one of the two sensitive axes of the two-axis accelerometer is the same as the Z axis. .

specific Embodiment approach 3

[0033] Embodiment 3: This embodiment is a further limitation of the six-dimensional acceleration acquisition method described in Embodiment 1.

[0034] In step 3, the method of using the 8 two-axis accelerometers to measure the linear acceleration and angular acceleration of the end of the robot to be tested in the carrier coordinate system is:

[0035] p · · bx = 1 2 ( A 71 - A 31 )

[0036] p · · by = 1 2 ( A 11 - A 51 ) ...

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Abstract

The invention discloses a six-dimensional acceleration acquisition method, and relates to acceleration acquisition methods. In order to solve the problem that an existing six-dimensional acceleration acquisition method is complex, the method comprises the steps that a 16-accelerometer detection space model is built; the model is cylindrical, eight two-shaft accelerometers are evenly divided into two groups, 90-degree angles are formed between every four two-shaft accelerometers, and the top face or the bottom face of the cylinder is formed; the two-shaft accelerometers on the top face correspond to the two-shaft accelerometers on the bottom face in position, the distance between the top face and the bottom face is L, and the radius of the cylinder is R; two sensitive axes of every two-shaft accelerometers are perpendicular in direction; according to the model, the two-shaft accelerometers are arranged at the tail end of a robot to be tested, and the central axis of the tail end of the robot to be tested is taken as a central axis of the model; the two-shaft accelerometers are utilized for measuring the linear acceleration and the angular acceleration of the tail end of the robot to be tested in the carrier coordinate system. The method is used for collecting the six-dimensional acceleration of the tail end of the robot to be tested.

Description

technical field [0001] The invention relates to an acceleration acquisition method, in particular to a six-dimensional acceleration acquisition method. Background technique [0002] In recent years, the human-computer interaction ability of robots has been paid more and more attention. Robots with multi-sensing capabilities and high load-to-weight ratio have become an important direction for the development of robots. Reducing the weight of the robot by changing the structure of the robot is a major measure to increase the load-to-weight ratio of the robot, but with the reduction of the weight of the robot, the robot will inevitably appear flexible, which makes the robot have typical flexible characteristics. The flexibility of the robot will cause difficulties in robot control and vibration at the end of the robot. In addition, the high-performance robot controller requires the ability to realize the acceleration control of the robot. [0003] The six-dimensional accelera...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01P15/18
Inventor 邹添倪风雷郭闯强刘业超张子建刘宏
Owner HARBIN INST OF TECH
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