马运动轨迹复现方法及其应用研究

根据陀螺仪传感器的构成原理,实现了ADIS陀螺仪传感器对六自由度数据的采集。基于LabVIEW软件读取采集的数据并通过傅里叶频域积分实现了数据由加速度到位移、角速度到转角的转化,显示了马的运动轨迹,实现了LabVIEW软件对原始数据和转换后数据的动态仿真。提取转化后的六自由度位移和转角数据移植给六自由度机器马,证明机器马可以跟踪真马的运动轨迹,验证采集过程中数据转化的正确性。

Realization method of horse trajectory and application research

The collecting data of ADIS gyroscope sensor is stored in SD card by the serial interface of AVR microcontroller. According to the constitution principle of gyroscope, realized ADIS gyroscope sensor collecting the data of six degrees of freedom. Through the Fourier frequency domain integral transform, the acceleration and angular velocity are transmitted into displacement and angle. This realizes dynamic simulation of the initial data and transformed data, and displays the tracks of horse movement, The result proves that the mimetic robotic horse can track the real horse＇s track very precisely. Exploiting the transformed six degrees displacement and angle to the six degrees of freedom mimetic robotic horse to verify the effective of data transform.