| 基于陀螺仪和码盘的自主定位机器人系统 |
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| 引用本文： | 徐明钊,于海涛,杨春,翟章明,王旭刚. 基于陀螺仪和码盘的自主定位机器人系统[J]. 兵工自动化, 2016, 35(10): 60-63. DOI: 10.7690/bgzdh.2016.10.016 |
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| 作者姓名： | 徐明钊 于海涛 杨春 翟章明 王旭刚 |
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| 作者单位： | 北京宇航系统工程研究所,北京,100076;北京宇航系统工程研究所,北京,100076;北京宇航系统工程研究所,北京,100076;北京宇航系统工程研究所,北京,100076;北京宇航系统工程研究所,北京,100076 |
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| 摘 要： | 为实现轮式机器人的自主定位，研究了基于陀螺仪与码盘的机器人自主定位方法，设计并实现了一种基于陀螺仪和码盘的自主定位机器人系统，对其布局安装方式、自主定位方法和校准、初始化流程进行了研究。选用GYROCHIP II型的陀螺仪和2RMHF型编码盘，制作了1：1实物机器人平台对机器人系统进行验证。机器人实际运动验证结果表明，该系统可在短时间内实现高精度的自主定位。
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| 关 键 词： | 陀螺仪 码盘 自主定位 机器人 |
Autonomous Positioning Robot System Based on Gyroscope and Encoder |
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| Xu Mingzhao. Autonomous Positioning Robot System Based on Gyroscope and Encoder[J]. Ordnance Industry Automation, 2016, 35(10): 60-63. DOI: 10.7690/bgzdh.2016.10.016 |
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| Authors: | Xu Mingzhao |
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| Affiliation: | Beijing Aerospace System Engineering Institute, Beijing 100076, China |
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| Abstract: | In order to realize the autonomous positioning of wheeled robots, the autonomous localization method of robot based on gyroscope and encoder is researched, and an autonomous positioning robot system based on gyroscope and encoder is designed and realized. The layout installation mode, autonomous localization method and calibration, and the initialization process were studied. Selection the GYROCHIP II gyroscope and the 2RMHF encoder, verify the robot system by made 1:1 physical robot platform. Robot experimental results show that the system can achieve high-precision autonomous positioning in a short time. |
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| Keywords: | gyroscope encoder localization robot |
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