福州大学学报（自然科学版）Issue(4)：471-475,5.DOI:10.7631/issn.1000-2243.2015.04.0471
一种基于嵌入式平台的机械臂体感控制系统
A mechanical arm motion sensing control system based on the embedded system
摘要
Abstract
The traditional mechanical arm control is complex and inefficiency, so a mechanical arm control system for human motion capture using inertial sensor is designed and implemented in this paper.The system uses sensor nodes, which contain accelerometer, gyroscope and magnetic sensor, to collect motion data of the arms and transmit to the embedded system.Through data aggregation, the quaternion which expresses the moving state of arm is calculated and finally the angle of mechanical arm’ s steering engines is obtained.Under the premise of ensuring the accuracy of mechanical arm, a data integration program of the different state is designed to reduce delay time for the embedded sys-tem, the system is implemented in an embedded system with low cost and portability.The experimen-tal results show that the operating lag of system is short and the movement of mechanical arm is steady.关键词
体感控制/嵌入式系统/机械臂/惯性传感器Key words
motion sensing control/embedded system/mechanical arm/inertial sensor分类
信息技术与安全科学引用本文复制引用
周海芳,查帅荣,章杰,陈志聪..一种基于嵌入式平台的机械臂体感控制系统[J].福州大学学报（自然科学版）,2015,(4):471-475,5.基金项目
国家自然科学基金资助项目 （）
