一种基于微机械传感器的关节角度测量方法

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 accelerometers 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.