CN100491083C - Flexible double-wheel self-balancing robot posture detecting method - Google Patents

Flexible double-wheel self-balancing robot posture detecting method Download PDF

Info

Publication number
CN100491083C
CN100491083C CNB2007101196230A CN200710119623A CN100491083C CN 100491083 C CN100491083 C CN 100491083C CN B2007101196230 A CNB2007101196230 A CN B2007101196230A CN 200710119623 A CN200710119623 A CN 200710119623A CN 100491083 C CN100491083 C CN 100491083C
Authority
CN
China
Prior art keywords
information
equal
angle
smaller
head
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CNB2007101196230A
Other languages
Chinese (zh)
Other versions
CN101100059A (en
Inventor
阮晓钢
赵建伟
李欣源
于乃功
刘江
狄海江
孙亮
赵岗金
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing University of Technology
Original Assignee
Beijing University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing University of Technology filed Critical Beijing University of Technology
Priority to CNB2007101196230A priority Critical patent/CN100491083C/en
Publication of CN101100059A publication Critical patent/CN101100059A/en
Application granted granted Critical
Publication of CN100491083C publication Critical patent/CN100491083C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The method of detecting posture of flexible two-wheel self-balanced robot belongs to the field of robot controlling technology. The method includes acquiring the angle data and angular speed data of three clinometers and three gyroscopes mounted separately in the head, trunk and pedestal of flexible two-wheel self-balanced robot with one parallel acquisition module; processing the angle data and angular speed data in a information fusing device to obtain established mass center angle and established mass center angular speed. The method can obtain output values in high accuracy in the deviation to the measured value of 10<-2> order.

Description

The attitude detecting method of flexible double-wheel self-balancing robot
Technical field
The invention belongs to robot control field, particularly robot pose detects.
Background technology
Usually said flexible robot generally is meant flexible mechanical arm, and the flexible mechanical arm attitude detection is to ignore the influence of the strain of structure to the structure rigid motion mostly, its attitude detection is converted into rigidity measures.It is not real flexible robot.
Though also use the information fusion device to calculate attitude information in the flexible mechanical arm attitude detection, this information fusion device can not be effectively at real flexible robot.
Summary of the invention
The purpose of this invention is to provide a kind of attitude detecting method that is used for flexible double-wheel self-balancing robot, the barycenter that this method can effectively detect robot changes, and measured deviation is in tolerance interval.
Method of the present invention is provided with three groups of inclinators 1 and gyroscope 2 at robot head, trunk and base at first respectively, then the head angle information θ that three inclinators 1 are exported 1, trunk angle information θ 2, base angle information θ 3Head angular velocity information with 2 outputs of three gyroscopes
Figure C200710119623D00031
Angle of body velocity information θ 2, base angular velocity information θ 3By the information fusion device 8 of parallel acquisition module 7 inputs, by information fusion device 8 output centroid estimation angles
Figure C200710119623D00032
With centroid estimation angular speed
Figure C200710119623D00033
Information; Described information fusion device 8 by multiplier with head angle information θ 1, trunk angle information θ 2, base angle information θ 3Respectively with weights K 1, K 2, K 3Multiply each other after the adder addition obtains the centroid estimation angle
Figure C200710119623D00034
Then by multiplier with head angular velocity information θ 1, the angle of body velocity information
Figure C200710119623D00035
The base angular velocity information
Figure C200710119623D00036
Respectively with weights K 4, K 5, K 6Multiply each other after the adder addition obtains centroid estimation angular speed
Figure C200710119623D00037
K wherein 1More than or equal to 0, smaller or equal to 2.0, K 2More than or equal to-490, smaller or equal to-110.0, K 3More than or equal to 179, smaller or equal to 718, K 4More than or equal to 0.2, smaller or equal to 1.9, K 5More than or equal to-12, smaller or equal to 0.8, K 6More than or equal to 31, smaller or equal to 112.
Algorithm Analysis obtains K according to particle filter (PF) 1, K 2, K 3, K 4, K 5, K 6Preferred value be 1.2 ,-170.1,276.411,1.3541 ,-3.456,81.1241 or 1 ,-231.11,326.3442,0.9843 ,-5.564,52.3631.
Believe and it will be appreciated by persons skilled in the art that information fusion device 8 can also can be an all-purpose computer, as PC by special hardware circuit realization.
The flexible double-wheel self-balancing robot barycenter that adopts device of the present invention to record changes, and its deviation is very for a short time to reach 10 -2The order of magnitude.
Description of drawings
Accompanying drawing 1, inclinator and gyrostatic position view among the present invention;
Accompanying drawing 2, the logic module schematic diagram of apparatus of the present invention;
Accompanying drawing 3, the measured barycenter parameter change curve of device of the present invention during for start angle=0.12 radian;
Accompanying drawing 4, actual measurement barycenter parameter change curve during for start angle=0.12 radian;
Accompanying drawing 5, the measured barycenter parameter change curve of device of the present invention during for start angle=0.26 radian;
Accompanying drawing 6, actual measurement barycenter parameter change curve during for start angle=0.26 radian;
The specific embodiment
Ask for an interview Fig. 1, Fig. 2, the present invention at robot be flexible double-wheel self-balancing robot, place three pairs of inclinators 1 and gyroscope 2 respectively at head, trunk and base position, measure the angle and the angular velocity information of head, trunk and base respectively, measured value respectively with
Figure C200710119623D0004103349QIETU
Set expression.
Information fusion device 8 is all-purpose computers, and parallel acquisition module 7 is mounted in the computer interface card on the information fusion device 8.
During measurement, the information fusion software on the log-on message fusion device 8 at first, the initializing computer internal memory, and with weights K 1, K 2, K 3, K 4, K 5, K 6Be set to initial value, initial value can select 1.2 ,-170.1,276.411,1.3541 ,-3.456,81.1241 or 1 ,-231.11,326.3442,0.9843 ,-5.564,52.3631.
When robot moves, measured value
Figure C200710119623D00041
Be input in the aforesaid calculator memory by the data acquisition interface card that connects on computers; Then by the information fusion software that moves on the computer with head angle information θ 1Take advantage of weights K 1, trunk angle information θ 2Take advantage of weights K 2, base angle information θ 3Take advantage of weights K 3, three product additions are obtained the centroid estimation angle Again by information fusion software with head angular velocity information θ 1Take advantage of weights K 4, the angle of body velocity information
Figure C200710119623D00043
Take advantage of weights K 5, base angular velocity information θ 3Take advantage of weights K 6, three products are obtained centroid estimation angular speed
Figure C200710119623D00044
At last with the resulting centroid estimation angle in front With centroid estimation angular speed
Figure C200710119623D00046
Output.
Ask for an interview Fig. 3-6, as can be seen from the figure, the barycenter parameter change curve and the measured curve of the output of information fusion device are quite approaching, have reached the requirement of goal of the invention.

Claims (3)

1. the attitude detecting method of a flexible double-wheel self-balancing robot is characterized in that: at first at robot head, trunk and base one group of inclinator (1) and gyroscope (2) are set respectively, then the head angle information (θ that three inclinators (1) are exported 1), trunk angle information (θ 2), base angle information (θ 3) and the head angular velocity information of three gyroscopes (2) output The angle of body velocity information
Figure C200710119623C00022
The base angular velocity information
Figure C200710119623C00023
Be input to information fusion device (8) by parallel acquisition module (7), by information fusion device (8) output centroid estimation angle
Figure C200710119623C00024
With centroid estimation angular speed Information; Described information fusion device (8) by multiplier with head angle information (θ 1), trunk angle information (θ 2), base angle information (θ 3) respectively with weights K 1, K 2, K 3Multiply each other after the adder addition obtains the centroid estimation angle
Figure C200710119623C00026
Then by multiplier with the head angular velocity information The angle of body velocity information
Figure C200710119623C00028
The base angular velocity information
Figure C200710119623C00029
Respectively with weights K 4, K 5, K 6Multiply each other after the adder addition obtains centroid estimation angular speed
Figure C200710119623C000210
K wherein 1More than or equal to 1, smaller or equal to 1.2, K 2More than or equal to-231.11, smaller or equal to-170.1, K 3More than or equal to 276.411, smaller or equal to 326.3442, K 4More than or equal to 0.9843, smaller or equal to 1.3541, K 5More than or equal to-5.564, smaller or equal to-3.456, K 6More than or equal to 52.3631, smaller or equal to 81.1241.
2. method according to claim 1 is characterized in that: K 1Be 1.2, K 2Be-170.1, K 3Be 276.411, K 4Be 1.3541, K 5Be-3.456, K 6Be 81.1241.
3. method according to claim 1 is characterized in that: K 1Be 1, K 2Be-231.11, K 3Be 326.3442, K 4Be 0.9843, K 5Be-5.564, K 6Be 52.3631.
CNB2007101196230A 2007-07-27 2007-07-27 Flexible double-wheel self-balancing robot posture detecting method Expired - Fee Related CN100491083C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNB2007101196230A CN100491083C (en) 2007-07-27 2007-07-27 Flexible double-wheel self-balancing robot posture detecting method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNB2007101196230A CN100491083C (en) 2007-07-27 2007-07-27 Flexible double-wheel self-balancing robot posture detecting method

Publications (2)

Publication Number Publication Date
CN101100059A CN101100059A (en) 2008-01-09
CN100491083C true CN100491083C (en) 2009-05-27

Family

ID=39034591

Family Applications (1)

Application Number Title Priority Date Filing Date
CNB2007101196230A Expired - Fee Related CN100491083C (en) 2007-07-27 2007-07-27 Flexible double-wheel self-balancing robot posture detecting method

Country Status (1)

Country Link
CN (1) CN100491083C (en)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101554726B (en) * 2009-05-15 2011-01-19 北京工业大学 Flexible two-wheel self-balance robot system and motion control method thereof
CN102121828B (en) * 2010-12-21 2012-12-19 浙江大学 Method for estimating body posture angle of humanoid robot in real time
CN103019093B (en) * 2011-09-26 2015-10-07 东莞易步机器人有限公司 The preparation method of two-wheel vehicle used sensor fusion angle
CN103076045B (en) * 2011-10-25 2016-04-13 上海新世纪机器人有限公司 Head pose induction installation and method
CN103170962A (en) * 2013-03-08 2013-06-26 北京工业大学 Desktop type double-wheel self-balancing robot
CN105116729B (en) * 2015-08-17 2017-11-07 杭州电子科技大学 A kind of double-wheel self-balancing robot adaptive sliding mode variable structure control method
CN105945994B (en) * 2016-05-10 2021-05-25 华讯方舟科技有限公司 Method and device for calibrating position of steering engine of robot head joint and robot
CN107186736B (en) * 2017-05-10 2018-06-12 华中科技大学 A kind of double-wheel self-balancing service robot of automatic swing arm
CN109693233B (en) * 2017-10-20 2020-11-24 深圳市优必选科技有限公司 Robot posture detection method and device, terminal equipment and computer storage medium
CN108436875A (en) * 2018-02-11 2018-08-24 坎德拉（深圳）科技创新有限公司 Robot
CN110614637B (en) * 2019-10-19 2022-08-30 上海麦艺文化艺术设计有限公司 Portrait action control method and system
CN112454376B (en) * 2020-10-28 2023-08-01 北京工业大学 Deployable coupling mechanism containing twenty-four rings
CN113478479B (en) * 2021-06-17 2023-08-01 北京工业大学 Acceleration selection method based on five-time polynomial trajectory planning intermediate point of industrial robot
CN113894781B (en) * 2021-10-08 2023-08-18 北京工业大学 Robot bolt assembling and disassembling method based on geometric and torque parameter combined driving
CN113715042B (en) * 2021-10-10 2023-07-21 北京工业大学 Spiral coiling type multi-section flexible robot
CN117656101A (en) * 2024-02-01 2024-03-08 南京信息工程大学 STM 32-based self-balancing desktop robot system

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
柔性机器人臂协调操作的协调性. 张成新，余跃庆.中国机械工程，第14卷第2期. 2003
柔性机器人臂协调操作的协调性. 张成新，余跃庆.中国机械工程，第14卷第2期. 2003 *

Also Published As

Publication number Publication date
CN101100059A (en) 2008-01-09

Similar Documents

Publication Publication Date Title
CN100491083C (en) Flexible double-wheel self-balancing robot posture detecting method
US10713812B2 (en) Method and apparatus for determining facial pose angle, and computer storage medium
US10960552B2 (en) Footed robot landing control method and device
US11833692B2 (en) Method and device for controlling arm of robot
CN106445130B (en) A kind of motion capture gloves and its calibration method for gesture identification
TWI474265B (en) Moving trajectory calibration method and moving trajectory generation method
TWI567592B (en) Gesture recognition method and wearable apparatus
CN108985220B (en) Face image processing method and device and storage medium
WO2020125500A1 (en) Control method and apparatus for obstacle avoidance of robot, and terminal device
US20190212807A1 (en) Tracking Torso Leaning to Generate Inputs for Computer Systems
CN108638070A (en) Robot based on dynamic equilibrium loads weight parameter discrimination method
WO2018219279A1 (en) Virtual touch system, method and device
CN115946120B (en) Mechanical arm control method, device, equipment and medium
TWI476733B (en) Three-dimensional space motion reconstruction method and apparatus constructed thereby
CN103425402A (en) Detection method and device for mobile terminal posture
US20150261421A1 (en) Image rotation based on touch gestures
CN107145706B (en) Evaluation method and device for performance parameters of virtual reality VR equipment fusion algorithm
CN117047771A (en) Flexible control method and device for robot and electronic equipment
US20210311621A1 (en) Swipe gestures on a virtual keyboard with motion compensation
US11590398B2 (en) Swing analysis method and swing analysis device
CN107322601A (en) The attitudes vibration detection means and method of a kind of object gripped by manipulator
CN106027802A (en) Mobile terminal and parameter setting method thereof
US20190243892A1 (en) Determining a reading speed based on user behavior
US10558270B2 (en) Method for determining non-contact gesture and device for the same
CN206209600U (en) Four-axle aircraft gesture control device based on inertial sensor

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20090527

Termination date: 20110727