| 两轮自平衡机器人的姿态检测系统的设计 |
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| 引用本文： | 焦勇,杨庆堂.两轮自平衡机器人的姿态检测系统的设计[J].船电技术,2011,31(5):45-49. |
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| 作者姓名： | 焦勇 杨庆堂 |
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| 作者单位： | 渤海船舶职业学院; |
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| 摘 要： | 本文介绍了两轮自平衡机器人的姿态检测系统设计过程.通过对两轮自平衡机器人的平衡性分析,采用数字信号处理器、MEMS陀螺仪和加速度计组成姿态检测系统.为了确定机器人运动姿态,设计了以硅微陀螺仪和加速计为传感器的姿态感知系统,并针对其传感器的误差模型,提出了利用卡尔曼滤波(Kalman filter)对电动车车体姿态进行最...
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| 关 键 词： | 自平衡机器人 姿态检测 卡尔曼滤波 |
Design of the Attitude Detection System for the Two-wheel Self-balanced Robot |
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| Jiao Yong,Yang Qingtang.Design of the Attitude Detection System for the Two-wheel Self-balanced Robot[J].Marine Electric & Electronic Technology,2011,31(5):45-49. |
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| Authors: | Jiao Yong Yang Qingtang |
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| Institution: | Jiao Yong,Yang Qingtang(Bohai Shipbuilding Vocational College,Huludao 125005,Liaoning,China) |
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| Abstract: | This paper presents the design process of the attitude detection system for the two-wheel self-balanced robot.By analyzing of the balance of the two-wheel self-balanced robot,the detection system is made up of a digital signal processor,a MEMS gyroscope and an accelerometer.In order to determine the electric vehicle's motion attitude,attitude sensing sensor system with silicon micro-gyroscopes and accelerometers is designed.According to the sensor's error model,it provides a method of Kalman filter optimal ... |
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| Keywords: | self-balanced robot attitude detection Kalman filter |
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