| 摘要 |
PURPOSE:To remove the influence of a drift due to the gravitation by removing a signal of extremely low frequency by a filtering means. CONSTITUTION:The difference between the outputs of angular velocities omega1 and omega2 of servo dry gyros is calculated and amplified by an amplifier 20a. Then a band-pass filter 21a removes the signal of extremely low frequency of variation in the attitude angle of a robot, etc., to eliminate a drift signal due to the gravitation. Then a rotational angle calculating means 13 integrates a rotational speed and outputs a rotational speed theta. Accelerometers 4a and 4b output signals corresponding to (x)- and (y)-directional acceleration values. Those are amplified by amplifiers 20b and 20c and then band-pass filters 21b and 21c remove low-frequency components. |
