Trends in Control of NC Machines

摘要

The paper comments on the new possibilities of utilizing the inertial navigation system in robototechnics. It deals with the application of a new inertial measurement system for a robotic workplace calibration. The calibration is necessary so that the simulation model of the production device can adjust to the real geometric conditions. The aim is to investigate and develop a new combined inertial navigation system based on electronic gyroscopes, magnetic and barometric sensors. The crucial activity is focused on three basic fields: 1. the first goal is to analyze accelerometer and gyroscopic sensors and their possibilities of utilization for inertial navigation. The simulation of the effect of sensors with different metrological parameters and their effect on the properties of the proposed combined navigation system, 2. the second goal is to optimize a specialized processor system for processing the data from the defined sensors in connection with controlling items of an industrial robot. The proposal of an algorithm of combined navigation with respect to the used processor system and 3. the third goal is to verify experimentally the proposed inertial navigation system in real conditions of the industrial robot operation.