P1.10 - MEMS Based Position and Motion Sensors for Controlling Complex Parallel Mechanisms

Abstract

In order to effectively control motion in machines, measurements of positions, displacements, tilts, velocities, accelerations, vibrations, etc. are necessary. Sensors employed to measure such parameters have to be optimally selected and integrated based on given applications in order to assure efficient, accurate, and reliable functioning of the machine system. The general objective of this application research is to develop and validate sensor based techniques for real time pose determination and control of parallel mechanisms. Specifically, it deals with the implementation of stable walking of the biped robot Centaurob [Fig.1]. For the stability control, motion sensors are to be selected systematically.