加速度計を用いた角運動センサ 数値シミュレーション

Abstract

In order to measure angular accelerations and velocities of multi-link mechanisms, this paper deals with generalized equations of motion and numerical simulations of the angular motion sensor system composed of nine linear accelerometers at each measuring point on the link mechanism. Differing from nonlinear equations by a six accelerometer method, a nine accelerometer method obtains linear equations as to angular accelerations readily after arithmetic calculations of the nine signals. Under noise disturbances, however, integrated values (angular velocities) from the measured signals drift into numerical errors, so the compensation technique combining a numerical low pass filter (frequency domain) and a direct search algorithm was employed. It is confirmed that the above compensation process of the lower frequency range is useful for obtaining probable angular velocities, by the numerical simulations of two short-term sample waves including jerked angular accelerations and constant angular velocities.