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Research on Angular Motion Sensing Technology

角运动传感技术研究

基本信息

批准号：
07555397
负责人：
NISHIHARA Kazue
金额：
$ 0.77万
依托单位：
Kanagawa Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1995
资助国家：
日本
起止时间：
1995 至 1997
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07555397/
关键词：
Angular acceleration sensor angular velocity sensor rotation sensor neural network

项目摘要

To measure three dimensional angular accelerations and to separate angular velocities from compound signals in a rigid body motion the following researches were promoted :(1) Analysing 2-and 3-dimensional motions, a new type of 2-dimensional rotation exciter was developed and 2-dimensional experiments were done for angular sensors.(2) To measure 3-dimensional angular accelerations 6 monolithic IC accelerometers were employed, getting two problems. First is the noise which was cleared by low-pass and high-pass filters. The second is the colioli's acceleration interfering one axis from others. It is found by the experiment and numerical simulation that the interference is negligible at smooth and slow motions of hand waving under frequency 2 Hz.Putting, hand waving signals into a robot by using a 3-dimensional angular accelerometer, it was confirmed that the robot moves according to promised rules.(3) To use angular velocity signals directly or to use as reference signals we formed a 3-d … More imensional angular velocity sensor by 3 pieces of poezoelectric gyro, experimented on 3-dimensional rotation test, repetitive and jerked hand waving tests. Though in a repetitive motion the gyro sensor gets good signals, it reveals a sag at the end of a signal in a jerked motion, which degrades the safety in a man-machine interface. So to improve the reliability of the motion control by hand waving we set two threshold levels to recognize whether an order signal or not, and a positive signal or negative. The effect of this method was confirmed by simultaneous control of 2 motors.(4)To separate 3-dimensional angular accelerations and angular velocities from observed compound 3-axs signals, some simulations were taken of neural network algorithms. By the 3 layr BP (back propagation) algorithm could be met the purpose when noises do not intrude. Learning numbers more than 2000 will be better for randomly chopped inputs at 1024 points. As the generalization ability is degraded by noises, so it is better to learn the approximate signals without angular velocities. Less

为了测量刚体运动中的三维角加速度和从复合信号中分离角速度，本文开展了以下研究工作：（1）通过对二维和三维运动的分析，研制了一种新型的二维旋转激振器，并对角传感器进行了二维实验。(2)为了测量三维角加速度，采用了6个单片集成加速度计，得到了两个问题。首先是通过低通和高通滤波器清除的噪声。第二个是科利奥利的加速度干扰一个轴从其他。通过实验和数值模拟发现，在频率为2Hz的平滑和缓慢的挥手运动中，干扰可以忽略不计，利用三维角加速度计将挥手信号输入机器人，证实了机器人按照预定的规则运动。(3)为了直接使用角速度信号或作为参考信号，我们形成了一个三维 ...更多信息利用3片压电陀螺构成的二维角速度传感器，进行了三维旋转试验、重复性和急动性挥手试验。虽然在重复运动中陀螺仪传感器获得良好的信号，但在急动运动中，它在信号的末端显示出下垂，这降低了人机界面的安全性。因此，为了提高手势运动控制的可靠性，我们设置了两个阈值水平来识别是否是命令信号，以及是否是正信号。通过对2台电机的同步控制验证了该方法的有效性。(4)To从观测到的复合3轴信号中分离出3维角加速度和角速度，对神经网络算法进行了仿真。在不受噪声干扰的情况下，采用三层BP算法可以达到这一目的。学习超过2000的数字将更好地随机斩波输入1024点。由于噪声的存在降低了算法的泛化能力，因此最好对不含角速度的近似信号进行学习。少