加速度信号の統合による6軸加速度センサシステムの安定性について : 多自由度運動における遠心力項の動的な影響についての考察(機械力学,計測,自動制御)

概要

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This paper describes a new six-degrees-of-freedom (6-DOF) motion sensor system using multiple accelerometers. It has been important for measurement and attitude control of mobile robots and vehicles to measure inertial data. However, we have no generic sensor systems that can be installed in small mobile robots and vehicles and can be used to control precisely, and its measurement methods have been subjects of study. So, we propose a new general sensor system that enables installing in them. In our method, six linear accelerometers are arranged like a circumference at a difference position of three points or more, and acceleration signals acquired by each accelerometer are integrated and converted into 6-DOF acceleration. We analyze a stability of our system by simulation and experiment, and demonstrate availability of our system in the multi-degree-of-freedom motion.
社団法人日本機械学会の論文
2006-12-25