Manipulator joint angle measurement system, platform and measurement method

Abstract

The invention discloses a manipulator joint angle measurement system, a platform and a measurement method, and relates to the field of angle sensing. The measurement system comprises a plurality of measurement units which are fixedly connected with a measured object, wherein each measurement unit comprises an accelerated speed-angular speed-magnetic field sensors, a plurality of chip resistors, afilter circuit, a printed circuit board and an FPC flat cable component; the sensors, the resistors, the filter circuits and the FPC flat cable component are arranged on the printed circuit board; andthe printed circuit board is supplied with power and communicates with the external part through the FPC flat cable component. According to the measurement units, magnetic field and gravity field data is read; and through data fitting, calibration and calculation, angles between every two measurement units are obtained. The measurement system can be mounted at most of positions of measured joints, so that the problem of mutual interference between traditional angle sensing devices and devices such as motors and bearings during mounting is avoided, the complexity and mechanical design difficulty of sensing systems are reduced, manipulators are simple in structure and better in reliability, the measurement cost is reduced and the volume of the measurement system is decreased.

Description

technical field [0001] The invention relates to the field of angle sensing, in particular to a manipulator joint angle measurement system, platform and measurement method. Background technique [0002] At present, in the process of controlling the manipulator, the sensing of the finger angle is the basis for realizing the control. At present, there are several angle sensing devices based on the principles of sound, light, electricity, and magnetism, but most of them are expensive, complex, and bulky, which is not conducive to mechanical design and assembly, which brings great difficulty to the design. Make equipment redundant. [0003] An inertial sensor is a sensor used to measure system acceleration and angular velocity, and generally consists of an acceleration sensor and a gyroscope. Wherein, the acceleration measured by the acceleration sensor is composed of the acceleration of gravity and the absolute acceleration of the object. The acceleration sensor is fixedly co...

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Problems solved by technology

[0006] In view of the above-mentioned defects in the prior art, the technical problem to be solved by the present invention is how to miniaturize the measurement system for reading data in the measurement of the joint angle of the manipulator, thereby reducing the complexity of the sensing system and the difficulty of mechanical design, so that the manipulator The structure is simple, the cost is reduced, the installation is convenient, and how to solve the read data more easily, so as to improve the calculation speed and shorten the calculation time

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