摘要
提出了一种Mpu-6050型6轴运动传感器简易、准确的标定方法。搭建了传感器标定实验装置,对传感器的三轴角加速度进行标定。获得了传感器三轴角加速度的经验公式,并进行了标定误差分析。使用该传感器进行柔性关节端面转角测量,并通过投影放大仪进行校验。结果表明,传感器测量精度满足柔性机械手的使用要求。
An easy and accurate calibrating method of six-axis motion sensor of Mpu-6050 type is put forward. An experimental device for calibration is set up, which is used to calibrate three-axis angle acceleration of the sensor. The empirical formula of three-axis angle acceleration is established and then the calibration error analysis is made. This sensor can be adopted to measure the bending angle of flexible joints, and it is verified by the projection magnification device. The results show that the accuracy of the sensor can satisfy the requirement of flexible robot hands.
出处
《长春大学学报》
2015年第10期6-8,共3页
Journal of Changchun University
基金
吉林省科技发展计划项目(20150520109JH)
吉林省教育厅"十二五"科学技术研究(20150158)
吉林市科技创新发展计划项目(201464043)
吉林市科技创新发展计划项目(20156413)
北华大学博士启动基金
关键词
六轴传感器
伺服电机
角加速度
实验标定
6-axis motion sensor
servo motor
angle acceleration
experimental calibration
