Development of a Mechatronic Systems Module Control System Based on MEMS Orientation Sensors

Abstract

In a certain sense, robots are trying to copy the sense organs that humans have. The task of manipulative robots, which should functionally imitate hands, is to perform various operations with objects. Typically, encoders, motors, and servos are used to determine the manipulator links' rotation angles. But this approach does not ensure synchronization of the copying device and the manipulator. In the case of only the manipulator, there is no feedback in slippage or other problems. The approach using MEMS acceleration and orientation sensors will allow you to determine the manipulator links' position in the relative coordinate system, increasing the system's accuracy. The article presents the concept of saturation of the MEMS copying device with local information sensors and the control program's algorithm for its operation. The conducted testing results show that the device provides the necessary accuracy of operation, but the suit requires some modification of the design.