CAJ | 학술논문

提出一种基于MEMS加速度传感器LISLV02DL的特种机器人姿态测控和环境感知方案.阐述了系统硬件组成,分析了传感器姿态测控方法和环境感知原理.为提高加速度传感器工作精度,设计了一种加速度传感器校正方法.试验结果表明:该加速度传感器能较好地感知机器人运动的姿态与方向,并实现机器人着陆姿态调整和外部环境振动信息的监测.
제출일충기우MEMS가속도전감기LISLV02DL적특충궤기인자태측공화배경감지방안.천술료계통경건조성,분석료전감기자태측공방법화배경감지원리.위제고가속도전감기공작정도,설계료일충가속도전감기교정방법.시험결과표명:해가속도전감기능교호지감지궤기인운동적자태여방향,병실현궤기인착륙자태조정화외부배경진동신식적감측.
The application of environmental perception and micro-robot attitude measurement and control is developed based on a 3-axis MEMS accelerometer with digital output LIS3LV02DL. The design of hardware system is introduced. The principle of environmental perception and micro-robot attitude measurement and control by accelerometer is analyzed. In order to improve the measuring precision of accelerometer, a calibrating method of accelerometers is presented. The results show that the accelerometer can percept the attitude and direction of the robot motion, adjust the robot landing attitude and monitor the vibration information of environment well.