TY - GEN
T1 - Study of an attitude sensing system for precise pointing hexapod
AU - Li, Wei Peng
AU - Huang, Hai
PY - 2010
Y1 - 2010
N2 - A newly designed attitude sensing system is proposed to realize 3 Euler angles measurement of precision pointing hexapod. The attitude sensing system consists of biaxial inclinometer and laser displacement sensors. Due to the measurement of irrelevant degree of freedom (DOF) is avoided, the complexity and cost of the attitude sensing system is relatively low in comparison with ordinary 6 DOF measurement systems of hexapod. The attitude sensing system's mathematical model for Euler angles calculation is deduced. Attitude sensing system hardware is developed. To verify the sensing system's rationality, precise pointing hexapod close-loop pointing control experiment based on the designed system is carried out. The experimental results show that hexapod's attitude control errors are scale of sub-milliradians which decrease one order of magnitude compare with open-loop one. While, the offline calculation shows that hexapod's accumulated 3 DOF linear displacement errors after long term movement are in small level which can be negligible in pointing.
AB - A newly designed attitude sensing system is proposed to realize 3 Euler angles measurement of precision pointing hexapod. The attitude sensing system consists of biaxial inclinometer and laser displacement sensors. Due to the measurement of irrelevant degree of freedom (DOF) is avoided, the complexity and cost of the attitude sensing system is relatively low in comparison with ordinary 6 DOF measurement systems of hexapod. The attitude sensing system's mathematical model for Euler angles calculation is deduced. Attitude sensing system hardware is developed. To verify the sensing system's rationality, precise pointing hexapod close-loop pointing control experiment based on the designed system is carried out. The experimental results show that hexapod's attitude control errors are scale of sub-milliradians which decrease one order of magnitude compare with open-loop one. While, the offline calculation shows that hexapod's accumulated 3 DOF linear displacement errors after long term movement are in small level which can be negligible in pointing.
UR - https://www.scopus.com/pages/publications/78649309034
U2 - 10.1109/ICMA.2010.5588455
DO - 10.1109/ICMA.2010.5588455
M3 - 会议稿件
AN - SCOPUS:78649309034
SN - 9781424451418
T3 - 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010
SP - 547
EP - 552
BT - 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010
T2 - 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010
Y2 - 4 August 2010 through 7 August 2010
ER -