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Measuring Algorithm for Tilt Angle of Tetrahedron Balancing Based on Accelerometers
Khurelbaatar.Ts,Enkhbaatar.T,Luubaatar.B,Woonchul Ham 제어로봇시스템학회 2009 제어로봇시스템학회 합동학술대회 논문집 Vol.2009 No.12
In this paper, we propose the optimal position of the acceleration sensor in a Tetrahedron Balancing for the best performance of its tilt angle measuring functioning by using accelerometers. We also introduce the estimation algorithm under the assumption that the disturbance of the accelerometer sensor is modeled as a Gaussian normal distributed random variable. Sensitivity function is selected as a performance index for the calculating the optimal position of the sensor. From the computer simulation results, we can see that the proposed algorithm can be applicable to the real system.