Microcontroller-based measurement of angular position, velocity and acceleration

Laopoulos, T.; Papageorgiou, C.

doi:10.1109/imtc.1996.507351

Cited by 10 publications

(6 citation statements)

References 14 publications

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“…This frequency is scaled by the encoder resolution resulting, in angular velocity. Velocity measurement in this manner provides a clear signal that is devoid of timing inconsistencies imposed by the windows operating system [27]. A diagram depicting the data flow is shown in Fig.…”

Section: Data Acquisition and Sensingmentioning

confidence: 99%

Modeling and System Identification of a Life-Size Brake-Actuated Manipulator

Dellon

Matsuoka

2009

IEEE Trans. Robot.

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Safety is a critical factor when designing a robotic rehabilitation environment. Whole-limb or life-size haptic interaction would allow virtual robotic rehabilitation of daily living activities such as sweeping or shelving. However, it has been too dangerous to implement such an environment with conventional active robots that use motor, hydraulic, or pneumatic actuation. To address this issue, a life-size 6-degree-of-freedom (DOF) brakeactuated manipulator (BAM) was designed and constructed. This paper details the BAM's system models including mechanisms, kinematics, and dynamics, as well as detailed input and friction models. In addition, a new system-identification technique that utilizes human input to excite the robot's dynamics with unscented Kalman filtering was employed to identify system parameters. Noise sources are discussed, and the model is validated through force estimation with inverse dynamics. Model parameters and performance are compared with other commercially available haptic devices. The BAM shows a significantly larger workspace, maximum force, and stiffness over other devices exhibiting its promise toward rehabilitative applications.

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Section: Data Acquisition and Sensingmentioning

confidence: 99%

Modeling and System Identification of a Life-Size Brake-Actuated Manipulator

Dellon

Matsuoka

2009

IEEE Trans. Robot.

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“…Meanwhile new technologies have been designed for measuring angular velocities and accelerations, e.g. brushless AC motors with digital servo-drivers, microcontroller based measurements (Laopoulos and Papageorgiou 1996), digital processing (Kadhim et al 1992), (Lygouras et al 1998), linear accelerometers (Ovaska and Vliviita 1998), (Han et al 2000). However, such technologies are not very common in applications yet.…”

Section: Velocity and Acceleration Measurementsmentioning

confidence: 99%

“…Of course, there are other alternative ways of estimating velocity and acceleration signals, like numerical differentiation or low pass filters (Kadhim et al 1992), (Laopoulos and Papageorgiou 1996), (Lygouras et al 1998), and in principle such alternatives could be used in the synchronization schemes developed here. These alternative techniques have the advantage of simplicity in implementation, but present a reduced bandwidth and in general there is not (or it is too difficult to determine) an analytical method to guarantee stability of the synchronizing scheme.…”

Section: Goals and Main Contributions Of The Thesismentioning

confidence: 99%

Synchronization of Mechanical Systems

Nijmeijer¹,

Rodríguez-Ángeles²

2003

World Scientific Series on Nonlinear Science Series A

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“…Angular acceleration measuring techniques are usually divided into indirect measuring and direct measuring. The indirect acceleration measuring technique are based on analog or digital post processing of available position or velocity signal [ 6 , 7 , 8 ]; however, the signal processing of these methods are very troublesome, especially the problems of delay characteristics and noise amplification are hard to resolve [ 9 , 10 , 11 , 12 ], and also the rotation range is typically limited due to their mechanical structures [ 13 ]. All of these have prompted the motivated the efforts to develop transducers for direct sensing of angular acceleration [ 13 , 14 ].…”

Section: Introductionmentioning

confidence: 99%

A Novel Permanent Magnetic Angular Acceleration Sensor

Zhao

Hao

2015

Sensors

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Angular acceleration is an important parameter for status monitoring and fault diagnosis of rotary machinery. Therefore, we developed a novel permanent magnetic angular acceleration sensor, which is without rotation angle limitations and could directly measure the instantaneous angular acceleration of the rotating system. The sensor rotor only needs to be coaxially connected with the rotating system, which enables convenient sensor installation. For the cup structure of the sensor rotor, it has a relatively small rotational inertia. Due to the unique mechanical structure of the sensor, the output signal of the sensor can be directed without a slip ring, which avoids signal weakening effect. In this paper, the operating principle of the sensor is described, and simulated using finite element method. The sensitivity of the sensor is calibrated by torsional pendulum and angle sensor, yielding an experimental result of about 0.88 mV/(rad·s−2). Finally, the angular acceleration of the actual rotating system has been tested, using both a single-phase asynchronous motor and a step motor. Experimental result confirms the operating principle of the sensor and indicates that the sensor has good practicability.

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Microcontroller-based measurement of angular position, velocity and acceleration

Cited by 10 publications

References 14 publications

Modeling and System Identification of a Life-Size Brake-Actuated Manipulator

Modeling and System Identification of a Life-Size Brake-Actuated Manipulator

Synchronization of Mechanical Systems

A Novel Permanent Magnetic Angular Acceleration Sensor

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