Joint-Angle Measurement Using Accelerometers and Gyroscopes-A Survey
Joint-Angle Measurement Using Accelerometers and Gyroscopes-A Survey
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DOI：
10.1109/tim.2009.2024367
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发表时间：
2010-02-01
影响因子：
5.6
通讯作者：
Oelmann, Bengt
中科院分区：
文献类型：
--
作者：
Cheng, Peng;Oelmann, Bengt
分析了基于MEMS双轴加速度计和单轴陀螺仪的刚体关节角度测量方法。与传统的磁性和光学关节角度传感器相比，这种新的惯性传感原理具有安装灵活和真正的非接触式传感的优点。本文着重比较了四种不同的惯性传感器组合方法，在参考文献中报道，并利用刚体运动学的理论来解释和分析其优点和缺点。还进行了实验，以进一步验证和加强分析中提出的论点。本文中的所有实验都是在一个定制的刚体机器人手臂模型上进行的，该模型可以用手操作。传感器校准和加速度计对准问题也进行了描述，并讨论了它们的细节。本文提出的实验结果表明，显着的差异与参考时，使用四种不同的传感器组合方法的各种情况下实现的角度精度。在某些情况下，基于一种方法的角度误差大于0.04 rad，而来自另一种方法的角度误差在+/-0.005 rad内。对不同方法测角的噪声水平进行了实验比较和分析。所得出的结论可以指导读者找到适合其特定应用的方法。
This paper presents an analysis of rigid-body joint-angle measurement based on microelectromechanical-system (MEMS) biaxial accelerometers and uniaxial gyroscopes. In comparison to conventional magnetic and optical joint angular sensors, this new inertial sensing principle has the advantages of flexible installation and true contactless sensing. This paper focuses on the comparison of four different inertial-sensor combination methods that are reported in reference papers and utilizes the theory of rigid-body kinematics to explain and analyze their advantages and weaknesses. Experiments have also been conducted to further verify and strengthen the arguments put forward in the analysis. All experiments in this paper took place on a custom-built rigid-body robot arm model that can be manipulated by hand. Sensor calibration and accelerometer alignment issues are also described, and their details are discussed. The experiment results presented in this paper show significant differences with reference to the achieved angular accuracy for various situations when using the four different sensor combination methods. In some cases, the angular error based on one method is more than 0.04 rad, while that from another method is within +/-0.005 rad. The noise levels of angular readings from different methods are also experimentally compared and analyzed. The conclusion drawn serves to guide readers toward a suitable method for their particular application.