A LOW COST ACCELEROMETER FOR ROBOT JOINT CONTROL

摘要

The paper describes a theoretical study of the static and dynamic behaviour of a small "one degree of freedom angular accelerometer" to be used in control of robot arm movements under type II closed loop schemes. The operational principle is based on a "fully floated balanced inertial mass" free to rotate around an axis. Exciting by means of an angular acceleration a consequent inertial torque is created deviating the float. A position transducer measures the deviation angle generating a proportional voltage used to drive a torque motor thus restoring the mass. An "analog closed loop-captured mass system" is obtained where the restitution current in adequate scale is the applied angular acceleration.