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| MEMS加速度传感器在微型特种机器人中的应用 | |
| 引用本文： | 陈卫,杨忠,夏玉亮,樊琼剑.MEMS加速度传感器在微型特种机器人中的应用[J].传感器与微系统,2009,28(7):110-113. |
| 作者姓名： | 陈卫 杨忠 夏玉亮 樊琼剑 |
| 作者单位： | 1. 南京航空航天大学,自动化学院,江苏,南京,210016 2. 南京熊猫电子制造有限公司,江苏,南京,210038 3. 南京航空航天大学,自动化学院,江苏,南京,210016;空军航空大学航空控制工程系,吉林,长春,130022 |
| 基金项目： | 国家自然科学基金资助项目 |
| 摘 要： | 提出一种基于MEMS加速度传感器LIS3LV02DL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。 |
| 关 键 词： | 微机电系统 加速度传感器 特种机器人 姿态测控 环境感知 |
Application of MEMS accelerometer on micro-robots |
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| CHEN Wei,YANG Zhong,XIA Yu-liang,FAN Qiong-jian.Application of MEMS accelerometer on micro-robots[J].Transducer and Microsystem Technology,2009,28(7):110-113. | |
| Authors: | CHEN Wei YANG Zhong XIA Yu-liang FAN Qiong-jian |
| Affiliation: | CHEN Wei, YANG Zhong, XIA Yu-liang, FAN Qiong-jian(1. College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;2. Nanjing Panda Electronics Manufacture Co. Ltd ,Nanjing 210038 ,China;3. Department of Aviation Control, Aviation University of Air Force, Changchun 130022, China) |
| Abstract: | 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. |
| Keywords: | MEMS accelerometer micro-robot attitude measurement and control environmental perception |
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