仅用一次抛掷就低成本测出刚体惯性张量
Rapid and Inexpensive Inertia Tensor Estimation from a Single Object Throw
- 用一个带陀螺仪的简易装置，单次抛掷测量惯性张量
- 实验显示平均误差约2%，精度高且成本低
- 适合需要快速测惯性的工程与机器人应用
惯性张量在众多工程领域中至关重要，但传统测量方法繁琐，需多次实验或昂贵设备。本文提出一种新方法：通过在刚体上附加一个小型、低成本的独立测量装置（含陀螺仪、加速度计和反作用轮），仅凭一次旋转抛掷即可估算惯性张量。该方法还补偿了测量装置带来的额外转动惯量，并在过程中间接获得物体质心位置。对已知刚体的实验表明，平均测量精度约为2%。
原文摘要 · Abstract (English)
The inertia tensor is an important parameter in many engineering fields, but measuring it can be cumbersome and involve multiple experiments or accurate and expensive equipment. We propose a method to measure the moment of inertia tensor of a rigid body from a single spinning throw, by attaching a small and inexpensive stand-alone measurement device consisting of a gyroscope, accelerometer and a reaction wheel. The method includes a compensation for the increase of moment of inertia due to adding the measurement device to the body, and additionally obtains the location of the centre of gravity of the body as an intermediate result. Experiments performed with known rigid bodies show that the mean accuracy is around 2%.
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