基于MTi系统的三维运动检测方法的研究  

Research on the Measurement of 3D Motion Based on MTi

作　　者：张玉磊[1] 陈进[1] 

机构地区：[1]江苏大学机械工程学院测控系,江苏镇江212013

出　　处：《测控技术》2008年第5期34-36,56,共4页Measurement & Control Technology

摘　　要：MTi(motion tracker instrument)系统是一款精度较高,灵活性好的测量姿态和航向的系统。结合MTi系统分析了其测量方法,以及其输入、输出量之间的转换关系。通过对被测物体不同运动姿态的测量,应用MATLAB软件编程对系统输出的数据进行分析,观察欧拉角针对不同运动姿态的变化规律。对机械手的三维运动进行测量分析,为采摘机械手的轨迹规划和运动控制提供试验基础。The MTi is a miniature, gyro-enhanced attitude and heading reference system （AHRS） which has higher precision and more agility. With MTi system, the measurement of 3D motion and relationship between its outputs and inputs are researched, After the measurement of different motion, using the MATLAB language, data processing from system is realized. Then, the ELderangles from different motion is observed, The experiment of measuring robot＇ s 3D motion provides experimentation basis for path planning and motion control of harvesting robot,

关 键 词：MTI 三维运动 欧拉角 MATLAB 采摘机械手 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]