Subject:
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Re: Detecting tilt with an Accelerometer.
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Newsgroups:
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lugnet.robotics
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Date:
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Tue, 22 Oct 2002 04:16:06 GMT
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Original-From:
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T. Alexander Popiel <popiel@wolfskeep.NOMORESPAMcom>
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Viewed:
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876 times
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In message: <H4D5BL.C5H@lugnet.com>
"Dean Hystad" <dhystad@mn.rr.com> writes:
>
> I think that you would only require two accelerometers, one positioned low
> near the wheels, the other near the top. Both should be oriented to measure
> accelerations along the direction of travel.
>
> Using two accelerometers gives you a frame of reference with which to
> evaluate the meaning of the acceleration feedbacks.
Yes, this would be a simpler solution. Using the difference and
the sum of the two accelerometers as two inputs would likely
make the driver logic very neat and clean.
In addition, it could be useful to have two (much more sensitive)
accelerometers parallel to the wheel axis, set forward and back.
This additional pair would allow the robot to detect getting
jostled side-to-side, or spun around. Not necessary for staying
upright, but useful for autonomous navigation in a non-ideal
environment.
A vertically-oriented accelerometer is only needed if you want
the robot to be able to tell when the floor drops out. ;-)
- Alex
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Message is in Reply To:
 | | Re: Detecting tilt with an Accelerometer.
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| (...) Alex, I think that you would only require two accelerometers, one positioned low near the wheels, the other near the top. Both should be oriented to measure accelerations along the direction of travel. Using two accelerometers gives you a (...) (22 years ago, 22-Oct-02, to lugnet.robotics)
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