Publication: Puesta en marcha del sensor inercial MTi de Xsens
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2011-11
Defense date
2011-11-14
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Abstract
El departamento de Ingeniería de Sistemas y Automática de la Universidad Carlos III de Madrid está desarrollando el robot humanoide TEO con fines de investigación en este campo. Una de las partes fundamentales es la estabilidad de dicho humanoide y para ello, se ha realizado este proyecto. El objetivo de éste es la integración del sensor inercial MTi de la marca Xsens, para que genere los datos adecuados de posición y orientación, que serán usados en el control del robot. Para llevar a cabo este proyecto, se ha realizado una aplicación básica, escrita en C++, bajo la plataforma Linux, que sirve para configurar el dispositivo y obtener los datos. También, se ha implementado una interfaz gráfica en Matlab. En dicha interfaz, el usuario podrá elegir la velocidad de transmisión del dispositivo y se representaran los datos de la aceleración, velocidad angular y campo magnético de los tres ejes (X, Y, Z). Además es posible capturar estos datos para luego representarlos en una serie de gráficas y poder analizarlos. Por último, se ha desarrollado un módulo de comunicación para transmitir los datos capturados del sensor a la interfaz gráfica. Una vez hecha toda la programación, se han realizado diversas pruebas para comprobar su funcionamiento. ____________________________________________________________________________________________________________________________
The Systems Engineering and Automation Department of the University Carlos III of Madrid is developing the humanoid robot TEO with aims of investigation in this field. One fundamental part of this work is the stability of humanoid robot. It has motivated the development of this project. The objective of this one is the integration of the inertial sensor MTi from Xsens, so that it generates the data adapted of position and direction that will be used in the stability control of the robot. To carry out this project, there has been developed a basic application, written in C++, under the Linux platform, whose objective is to configure the device and get data. Also, it has been implemented a graphical user interface in Matlab. In this interface, the user will be able to choose the speed of transmission of the device and the data of the acceleration, angular velocity and magnetic field of the three axes (X, Y, Z). In addition, it is possible to capture these data to represent them in a series of graphs. Moreover, the movement of the sensor can be represented by the angles of Euler. It also has been developed a communication module to transmit the data captured from the sensor to the graphical user interface. Finally, it has been carried out various tests to verify their operation.
The Systems Engineering and Automation Department of the University Carlos III of Madrid is developing the humanoid robot TEO with aims of investigation in this field. One fundamental part of this work is the stability of humanoid robot. It has motivated the development of this project. The objective of this one is the integration of the inertial sensor MTi from Xsens, so that it generates the data adapted of position and direction that will be used in the stability control of the robot. To carry out this project, there has been developed a basic application, written in C++, under the Linux platform, whose objective is to configure the device and get data. Also, it has been implemented a graphical user interface in Matlab. In this interface, the user will be able to choose the speed of transmission of the device and the data of the acceleration, angular velocity and magnetic field of the three axes (X, Y, Z). In addition, it is possible to capture these data to represent them in a series of graphs. Moreover, the movement of the sensor can be represented by the angles of Euler. It also has been developed a communication module to transmit the data captured from the sensor to the graphical user interface. Finally, it has been carried out various tests to verify their operation.
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Robótica, Robots humanoides, Sensores ópticos, Instrumentación electrónica