一种基于微机械传感器的关节角度测量方法  

Method to Measure Joint Angles Based on MEMS Sensors

作　　者：孙田星 

机构地区：[1]沈阳职业技术学院,辽宁沈阳110045

出　　处：《仪表技术与传感器》2016年第9期112-116,共5页Instrument Technique and Sensor

摘　　要：介绍了一种基于双轴微机电系统(MEMS)加速度计与单轴陀螺仪的机器人关节角度测量系统。相比于传统的霍尔磁传感测量以及光学角度测量方法,该系统的传感器不需要与机械关节直接接触,安装位置更为灵活。文中将着重介绍角度测量的数学模型,以及如何在尽可能少的传感器配置下对陀螺仪的漂移噪声进行滤除。实验采用了一套简易的机械臂系统,在不同角速度下对测量装置进行测试,测量结果与参考值接近(均方差约为1.9°,标准差约1.5°)。该算法可以对角度进行实时测量,并可在长时间工作条件下良好运行。A joint angle measurement method based on microelectromechanical-system （MEMS） biaxial aecelerometers and uniaxial gyroscopes were presented in this paper. Comparing to the traditional hall-effect or optical joint angle sensors, this new method is more flexible while installing because of contactless with the joint. The model based on a 2-dimention rigid body was e- laborated, as well as how to filter the drift noise with the least amount of sensors was mounted. A simplified robot arm was em- ployed to test the measure system in various angular velocities. Results are close to the reference value （ rms = 1.9°, SD = 1.5° ）. Technically, a real-time measure system could be done with this algorithm and can handle long term monitoring without hindrance to natural activities.

关 键 词：微机械系统 角度测量 加速度计 陀螺仪 双轴微机电 霍尔磁传感测量 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]