| 张玉磊， 陈 进 |
（江苏大学 机械工程学院测控系，江苏 镇江 212013） |
 摘要：MTi(motion tracker instrument)系统是一款精度较高，灵活性好的测量姿态和航向的系统。结合MTi系统分析了其测量方法，以及其输入、输出量之间的转换关系。通过对被测物体不同运动姿态的测量，应用MATLAB软件编程对系统输出的数据进行分析，观察欧拉角针对不同运动姿态的变化规律。对机械手的三维运动进行测量分析，为采摘机械手的轨迹规划和运动控制提供试验基础。 |
| 关键词：MTi；三维运动；欧拉角；MATLAB；采摘机械手 |
| 中图分类号：TP212．9 文献标识码：A 文章编号：1000-8829(2008)05-0034-03 |
| Research on the Measurement of 3D Motion Based on MTi |
| ZHANG Yu-lei， CHEN Jin |
| (The School of Machanical Engineering,Jiangsu University,Zhenjiang 212013,China) |
| Abstract：The MTi is a miniature,gyro-enhanced attitude and heading reference system (AHRS) which has higher precision and more agility.With MTi system,the measurement of 3D motion and relationship between its outputs and inputs are researched.After the measurement of different motion,using the MATLAB language,data processing from system is realized.Then,the Euler-angles from different motion is observed.The experiment of measuring robot’s 3D motion provides experimentation basis for path planning and motion control of harvesting robot. |
| Key words：MTi; 3D motion;Euler-angles; MATLAB; harvesting robot |
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