A Stability of Six-Degrees-of-Freedom Acceleration Sensor System by Integration of Acceleration Signals Considerations about a Dynamic Influence of Centrifugal Force Term in the Multi-Degree-of-Freedom Motion

• Published in: Transactions of the Japan Society of Mechanical Engineers Series C Vol. 72; no. 724; pp. 3789 - 3797
• Main Authors: ONODERA, Ryoji, MIMURA, Nobuharu
• Format: Journal Article
• Language: Japanese
• Published: The Japan Society of Mechanical Engineers 2006
• Subjects: Centrifugal Force Term (CF. Term); Filter; Measurement; Multiple Accelerometers; Sensor; Six-Degrees-of-Freedom Acceleration; Stability
• ISSN: 0387-5024; 1884-8354
• DOI: 10.1299/kikaic.72.3789

This paper describes a new six-degrees-of-freedom (6-DOF) motion sensor system using multiple accelerometers. It has been important for measurement and attitude control of mobile robots and vehicles to measure inertial data. However, we have no generic sensor systems that can be installed in small mobile robots and vehicles and can be used to control precisely, and its measurement methods have been subjects of study. So, we propose a new general sensor system that enables installing in them. In our method, six linear accelerometers are arranged like a circumference at a difference position of three points or more, and acceleration signals acquired by each accelerometer are integrated and converted into 6-DOF acceleration. We analyze a stability of our system by simulation and experiment, and demonstrate availability of our system in the multi-degree-of-freedom motion.