Animazoo IGS-物理惯性动作捕捉系统--说明书(中文版)
Trinamic Motion Control系统用户指南说明书
References
Lipsett, R. A. (n.d.). Thomson Linear Motion Optimized. Retrieved from https:///downloads/articles/Ball_Screws_and_Lea d_Screws_The_Real_World_Difference_taen.pdf
translation stage at startup • Set axis parameters in code to relate motor driver
positioning coordinates to position of translation stage • Further testing of complete system to test for mechanical
stage
Conclusion and Recommendations
Despite lack of testing due to COVID-19, individual components of the delay unit were tested. A large component of the delay unit’s functioning is the software driving the motor. Through lab testing, a USB connection between the computer and motor driver was successfully established, and information can be transmitted to the motor driver by the user. Additionally, the stop switch interrupts were successfully wired and tested. The system was not able to be integrated or tested with the OCT systemduction
奥林匹斯 OM-System 电动驱动器说明书
The Easily Assembled OM-System Motor Drive Units
CD Motor Drive 1 T he heart of t he group is t his basic motor drive
unit. It is fixed directly to t he camera base tr ipod socket with a clamping screw, and functions with the camera as one unit. The M.18V Control Grip 1 (with enclosed Battery Holder 1) or a Re lay Cord is attached t o t he base of the uni t.
Li ke all the other members of the OM-System, the Motor Drive Group is formed around the Olympus OM-l , in itself a radical new development in 35-SLR cameras that is revolutionizing this field of photography. The superior technical capabil ities of the OM-l, and its outstanding design features such as a 35% reduction in both weight and size, plus a decrease of more than half in shutter noise, make it the perfect complement for the world's lightest and smallest motor drive system.
微玛肯控制头带滑动开关手册说明书
Page 151 Winthrop RoadChester, Connecticut 06412-0684Phone: (860) 526-9504Internet: Sales e-mail: autosale@Customer Service e-mail: custserv@Configuration Guide:6-button WeCan® Control Head with Slide Switch©2009 Whelen Engineering Company Inc.Form No.14285B (022117)A u t o m o t i v e : S i r e n s /S w i t c h e s®ENGINEERING COMPANY INC.For warranty information regarding this product, visit /warrantyDANGER! Sirens produce extremely loud emergency warning tones! Exposure to these tones without proper and adequate hearing protection, could cause ear damage and/or hearing loss! The Occupational Safety & Health Administration () provides information necessary to determine safe exposure times in Occupational Noise Exposure Section 1910.95. Until you have determined the safe exposure times for your specific application,operators and anyone else in the immediate vicinity should be required to wear an approved hearing protection device. Failure to follow this recommendation could cause hearing loss!•Proper installation of this product requires the installer to have a good understanding of automotive electronics, systems and procedures.•Whelen Engineering requires the use of waterproof butt splices and/or connectors if that connector could be exposed to moisture.•Any holes, either created or utilized by this product, should be made both air- and watertight using a sealant recommended by your vehicle manufacturer.•Failure to use specified installation parts and/or hardware will void the product warranty.•If mounting this product requires drilling holes, the installer MUST be sure that no vehicle components or other vital parts could be damaged by the drilling process. Check both sides of the mounting surface before drilling begins. Also de-burr the holes and remove any metal shards or remnants. Install grommets into all wire passage holes.•If this manual states that this product may be mounted with suction cups, magnets, tape or Velcro®, clean the mounting surface with a 50/50 mix of isopropyl alcohol and water and dry thoroughly.•Do not install this product or route any wires in the deployment area of your air bag. Equipment mounted or located in the air bag deployment area will damage or reduce the effectiveness of the air bag, or become a projectile that could cause serious personal injury or death. Refer to your vehicle owner’s manual for the air bag deployment area. The User/Installer assumes full responsibility to determine proper mounting location, based on providing ultimate safety to all passengers inside the vehicle.•For this product to operate at optimum efficiency, a good electrical connection to chassis ground must be made. The recommended procedure requires the product ground wire to be connected directly to the NEGATIVE (-) battery post (this does not include products that use cigar power cords).•If this product uses a remote device for activation or control, make sure that this device is located in an area that allows both the vehicle and the device to be operated safely in any driving condition.•It is recommended that these instructions be stored in a safe place and referred to when performing maintenance and/or reinstallation of this product.•FAILURE TO FOLLOW THESE SAFETY PRECAUTIONS AND INSTRUCTIONS COULD RESULT IN DAMAGE TO THE PRODUCT OR VEHICLE AND/OR SERIOUS INJURY TO YOU AND YOUR PASSENGERS!CAUTIONLoud siren noise can cause hearing damage and/or loss.Refer to OSHA Section 1910.95prior to putting ANY siren into service!Wear Protection!ACTIVATION OF THIS SIREN MAY DAMAGE UNPROTECTED EARS!Warnings to InstallersWhelen’s emergency vehicle warning devices must be properly mounted and wired in order to be effective and safe. Read and follow all of Whelen’s written instructions when installing or using this device. Emergency vehicles are often operated under high speed stressful conditions which must be accounted for when installing all emergency warning devices. Controls should be placed within convenient reach of the operator so that they can operate the system without taking their eyes off the roadway. Emergency warning devices can require high electrical voltages and/or currents. Properly protect and use caution around live electrical connections.Grounding or shorting of electrical connections can cause high current arcing, which can cause personal injury and/or vehicle damage, including fire. Many electronic devices used in emergency vehicles can create or be affected by electromagnetic interference. Therefore, after installation of any electronic device it is necessary to test all electronic equipment simultaneously to insure that they operate free of interference from other components within the vehicle. Never power emergency warning equipment from the same circuit or share the same grounding circuit with radio communication equipment. All devices should be mounted in accordance with the manufacturer’s instructions and securely fastened to vehicle elements of sufficient strength to withstand the forces applied to the device. Driver and/or passenger air bags (SRS) will affect the way equipment should be mounted. This device should be mounted by permanent installation and within the zones specified by the vehicle manufacturer, if any. Any device mounted in the deployment area of an air bag will damage or reduce the effectiveness of the air bag and may damage or dislodge the device. Installer must be sure that this device, its mounting hardware and electrical supply wiring does not interfere with the air bag or the SRS wiring or sensors. Mounting the unit inside the vehicle by a method other than permanent installation is not recommended as unit may become dislodged during swerving; sudden braking or collision. Failure to follow instructions can result in personal injury. Whelen assumes no liability for any loss resulting from the use of this warning device. PROPER INSTALLATION COMBINED WITH OPERATOR TRAINING IN THE PROPER USE OF EMERGENCY WARNING DEVICES IS ESSENTIAL TO INSURE THE SAFETY OF EMERGENCY PERSONNEL AND THE PUBLIC.Warnings to UsersWhelen’s emergency vehicle warning devices are intended to alert other operators and pedestrians to the presence and operation of emergency vehicles and personnel. However, the use of this or any other Whelen emergency warning device does not guarantee that you will have the right-of-way or that other drivers and pedestrians will properly heed an emergency warning signal. Never assume you have the right-of-way. It is your responsibility to proceed safely before entering an intersection, driving against traffic, responding at a high rate of speed, or walking on or around traffic lanes. Emergency vehicle warning devices should be tested on a daily basis to ensure that they operate properly. When in actual use, the operator must ensure that both visual and audible warnings are not blocked by vehicle components (i.e.: open trunks or compartment doors), people, vehicles, or other obstructions. It is the user’s responsibility to understand and obey all laws regarding emergency warning devices. The user should be familiar with all applicable laws and regulations prior to the use of any emergency vehicle warning device. Whelen’s audible warning devices are designed to project sound in a forward direction away from the vehicle occupants. However, because sustained periodic exposure to loud sounds can cause hearing loss, all audible warning devices should be installed and operated in accordance with the standards established by the National Fire Protection Association.Safety FirstThis document provides all the necessary information to allow your Whelen product to be properly and safely installed. Before beginning the installation and/or operation of your new product, the installation technician and operator must read this manual completely. Important information is contained herein that could prevent serious injury or damage.WARNING: This product can expose you to chemicals including Lead which is known to the State of California to cause cancer and birth defects or other reproductive harm. For more information go to .Page 2Notes:1)TD/AUX =Takedown /Auxiliary Take-Downs or Worklights2)Some configurations will allow specific buttons to activate alternate functions with each press of that button. In the artwork shown,these buttons are represented with white letters on a black background. In these cases, the functions to be activated are shown in sequential order and are separated with a horizontal line.Dip Switch Configuration #1Dip Switch Configuration #2Dip Switch Configuration #3California Title13 compliantOn Off1ON23412,3,4On Off1ON23421,3,4On Off1ON2342,31,4On Off1ON23441,2,3On Off1ON2341,2,43On Off1ON2343,41,2On Off1ON2341,23,4On Off1ON2341,2,34On Off 1ON2341,42,3Pos.1 -T/A LeftPos.1 -T/A LeftPos.1 -T/A LeftPos.2 -T/A SplitPos.2 -T/A Split Pos.2 -T/A SplitPos.3 -T/A Right Pos.3 -T/A Right Pos.3 -T/A Right L Alley R AlleyLight Bar CruiseFront Cutoff Patrn Over-rideTD/AUXMode 1Front Cutoff Mode 2Low PowerPatrn Over-rideTD/AUXMode 1Low PowerFront CutoffMode 2Mode 3TD/AUXCruise TD/AUXTA RightL Alley R AlleyTA Left TA Split L Alley R AlleyTA Left TA Split Patrn Over-rideTD/AUXTA RightPatrn Over-rideTD/AUXOn Off1ON23431,2,4On Off1ON2341,32,4Dip Switch Configuration #4Dip Switch Configuration #7Dip Switch Configuration #10Pos.1 -All Bar 1Pos.1 -FrontPos.1 -FrontPos.1 -FrontPos.1 -FrontPos.1 -RearPos.1 -FrontPos.1 -All Bar 1Pos.1 -All Bar 1Pos.2 -All Bar 2Pos.2 -RearPos.2 -RearPos.2 -RearPos.2 -Rear Pos.2 -FrontPos.2 -RearPos.2 -All Bar 2Pos.2 -All Bar 2Pos.3 -All Bar 3Pos.3 -All Pos.3 -All Pos.3 -All Pos.3 -All Pos.3 -All Pos.3 -All Pos.3 -All Bar 3Pos.3 -All Bar 3Dip Switch Configuration #5Dip Switch Configuration #8Dip Switch Configuration #11Dip Switch Configuration #12Dip Switch Configuration #6Dip Switch Configuration #9TA Left TA SplitTD/AUXL Alley R AlleyLow Power Front CutoffRear Cutoff TA RightTA Left Low PowerFront CutoffTA Split TA RightTD/AUXL Alley R AlleyTA Left TA Split TD/AUXTA RightLow PowerL Alley R AlleyTA Left TA Split Front FlashTD/AUXTA RightTA Left TA SplitL Alley R AlleyPatrn Over-rideCruise TD/AUXTA RightOn Off1ON2342, 41, 3Front TA Left Rear TA RightFront TA RightLeft Alley Right AlleyRear TA Left Flash Alley TD Left Alley Right AlleyCruise Secure the mounting plate to the control head using the supplied 4 X 1/4 PFH Plasti-Loc screws.NOTE: Dip switches are located on the back of the unit.1.Secure the controller to the mounting surface using the supplied 6 X 1/2" PPHSMS.Extend the wires and connect as described below.Installation:2.3.WARNING!All customer supplied wires that connect to the positive terminal of the battery must be sized to supply at least 125%of the maximum operating current and at the battery to carry the load.DO NOT USE CIRCUIT BREAKERS WITH THIS PRODUCT!FUSED BLK RED WHTGRN GRYto +12VDC Fuse (3A)Fuse (1A)4-1/4 PFH Plasti-Loc Screw (qty. 4)Mounting Plate4-1/2 PPHSMS (qty. 2)to +12VDC ignition controlled circuit (Backlight)to Groundto WeCan® Lightbar。
VisualMotion GPS 6.0 用户手册说明书
Levante Sistemas deAutomatización y Control S.L.CatálogosLSA Control S.L. - Bosch Rexroth Sales PartnerRonda Narciso Monturiol y Estarriol, 7-9Edificio TecnoParQ Planta 1ª Derecha, Oficina 14(Parque Tecnológico de Paterna)46980 Paterna (Valencia)Telf. (+34) 960 62 43 01*************************VisualMotion GPS 6.0DOK-VISMOT-VM*-06VRS**-FKB1-AE-P • 07/98Reference Manual 280585VisualMotion GPS 6.0Reference Manual DOK-VISMOT-VM*-06VRS**-FKB1-AE-P • 07/98IAE 74792, Rev. G This document is intended to be a reference manual for the CLC Multi-AxesCoordinated Motion Control Card. This manual contains the informationneeded to program the card using VisualMotion32 and covers the followingitems.• I/O Systems• Parameters• Icon/Text Programming• Direct ASCII Communication• DDE Client Interfaces RevisionDate Remarks IAE 74792, Rev A10/91Initial Release IAE 74792, Rev B06/94Updates IAE 74792, Rev C10/94Updates - Not released IAE 74792, Rev D12/94GPS 1.2IAE 74792, Rev E9/95GPS 02IAE 74792, Rev F10/96GPS 05IAE 74792, Rev G 07/98VisualMotion32 - GPS 06© INDRAMAT, 1998Copying this document, and giving it to others and the use or communicationof the contents thereof without express authority, are forbidden. Offenders areliable for the payment of damages. All rights are reserved in the event of thegrant of a patent or the registration of a utility model or design (DIN 34-1).All rights are reserved with respect to the content of this documentation andthe availability of the product.INDRAMAT • 5150 Prairie Stone Parkway • Hoffman Estates, IL 60616Telephone 847-645-3600 • Fax 847-645-6201TechDoc Dept. (LS/HK)TitleKind of documentationDocu-typeInternal file referencePurpose of this document Revision history Copyright Validity Published byVisualMotion GPS 6.0DOK-VISMOT-VM*-06VRS**-FKB1-AE-P Contents IContents1Introduction 1-11.1Purpose of Manual...........................................................................................................................1-11.2Manual Overview..............................................................................................................................1-61.3Overview of CLC..............................................................................................................................1-7CLC System Architecture.................................................................................................................1-7Indramat’s VisualMotion ® Programming Interface..........................................................................1-8CLC BTC06......................................................................................................................................1-8CLC Operating System ....................................................................................................................1-91.4CLC Motion Capabilities.................................................................................................................1-10Non-Coordinated Motion................................................................................................................1-10Coordinated Motion........................................................................................................................1-10Electronic Line Shaft (ELS)............................................................................................................1-112CLC Input/Output Systems 2-12.1I/O Overview.....................................................................................................................................2-12.2Remote I/O Systems........................................................................................................................2-22.3I/O Mapper .......................................................................................................................................2-3I/O Mapper Ladder Logic Format.....................................................................................................2-4I/O Mapper Boolean Format.............................................................................................................2-4I/O Mapper Operators ......................................................................................................................2-5I/O Mapper Considerations ..............................................................................................................2-52.4I/O Bit Forcing ..................................................................................................................................2-62.5Reading and Writing Physical I/O.....................................................................................................2-62.6CLC Registers..................................................................................................................................2-7Register 1: System Control ..............................................................................................................2-8Registers 2-5: Task Control ...........................................................................................................2-10CLC Cycle Control Considerations.................................................................................................2-13Register 6: System Diagnostic Code..............................................................................................2-14Registers 7-10: Task Jog Control...................................................................................................2-14Registers 11-18, 209-240: Axis Control.........................................................................................2-17Register 21: System Status............................................................................................................2-18Registers 22-25: Task Status.........................................................................................................2-19Registers 27 and 28: Eagle Module Inputs/Outputs (CLC-V Only)................................................2-20Register 29: ELS Master Control Register.....................................................................................2-21Register 30: ELS Master Status Register.......................................................................................2-22Registers 31-38, 309-340: Axis Status...........................................................................................2-23VisualMotion GPS 6.0Registers 40-87: DEA (4/5/6) I/O...................................................................................................2-26Registers 88,89: Task A Extend Event Control..............................................................................2-26Registers 90 and 91: Latch and Unlatch........................................................................................2-27Registers 92-94: Mask Pendant Key Functionality.........................................................................2-27Registers 95-97: BTC06 Teach Pendant Status Registers............................................................2-28Registers 98, 99: Teach Pendant Control - Task A-B, C-D............................................................2-29Register 400-405, 410-415: DEA (28/29/30) I/O Registers............................................................2-30CLC Reserved Register Tables......................................................................................................2-313Parameters3-13.1Overview...........................................................................................................................................3-13.2Parameter Transfer Commands......................................................................................................3-23.3List of Parameters............................................................................................................................3-33.4System Parameters........................................................................................................................3-14System Setup (0001-0031)............................................................................................................3-14Jogging and Display (0042-0056)...................................................................................................3-24Program Management (0090-0099)...............................................................................................3-26System Status (0100-0126)............................................................................................................3-29Electronic Line Shaft Parameters 1 of 2 (0150-0170)....................................................................3-33VME Bus (0200-0287)....................................................................................................................3-37BTC06 Teach Pendant (0801-0991)..............................................................................................3-44Electronic Line Shaft Parameters 2 of 2 (1000-1568)....................................................................3-53System Parameter Lists (2000-3108).............................................................................................3-593.5Task Parameters............................................................................................................................3-74Task Setup (0001-0002).................................................................................................................3-74Coordinated Motion (0005-0026)...................................................................................................3-76Robotics (0035-0059).....................................................................................................................3-80Coordinated Motion Status (0100-0113)........................................................................................3-81Task Status (0120-0200)................................................................................................................3-83Task Parameter Lists (2000-2001).................................................................................................3-873.6Axis Parameters.............................................................................................................................3-88Axis Setup (0001-0038)..................................................................................................................3-88Axis Status (0100-0145)...............................................................................................................3-103Electronic Line Shaft (0150-0164)................................................................................................3-106Axis Feedback Capture (Registration 0170-0174).......................................................................3-110Optional SERCOS Data (0180-0196)...........................................................................................3-111Axis Parameter Lists (2000-2001)................................................................................................3-1133.7Drive Parameters.........................................................................................................................3-113Drive Status..................................................................................................................................3-115Required DDS Setup....................................................................................................................3-115 II Contents DOK-VISMOT-VM*-06VRS**-FKB1-AE-PVisualMotion GPS 6.0DOK-VISMOT-VM*-06VRS**-FKB1-AE-P Contents III4VisualMotion Menu Commands 4-14.1Introduction.......................................................................................................................................4-14.2The File Menu ..................................................................................................................................4-2Program Management......................................................................................................................4-2Archive..............................................................................................................................................4-4Transfer Cams .................................................................................................................................4-5Transfer Events................................................................................................................................4-6Transfer I/O Mapper.........................................................................................................................4-6Transfer Parameters........................................................................................................................4-6Transfer Points.................................................................................................................................4-7Transfer Variables............................................................................................................................4-8Transfer Zones.................................................................................................................................4-8Print..................................................................................................................................................4-84.3The Edit Menu................................................................................................................................4-10Clear Current Task.........................................................................................................................4-10Find, Find Next...............................................................................................................................4-10Add Subroutine...............................................................................................................................4-11Add Event Function........................................................................................................................4-11Labels - User Labels ......................................................................................................................4-11Labels - Register Labels.................................................................................................................4-13Labels - Bit Labels..........................................................................................................................4-13Import User Label File....................................................................................................................4-14Export User Label File....................................................................................................................4-144.4The View Menu...............................................................................................................................4-15Subroutines....................................................................................................................................4-15Event Functions..............................................................................................................................4-15Zoom Out .......................................................................................................................................4-154.5The Setup Menu.............................................................................................................................4-16Card Selection................................................................................................................................4-16Configuration..................................................................................................................................4-16Drives.............................................................................................................................................4-17Drives Help Directories...................................................................................................................4-17Coordinated Motion........................................................................................................................4-18I/O Setup........................................................................................................................................4-19Overview.........................................................................................................................................4-21Pendant Security............................................................................................................................4-22CLC Serial Ports.............................................................................................................................4-23VME Configure...............................................................................................................................4-234.6The Tools Menu.............................................................................................................................4-25Breakpoint Control..........................................................................................................................4-25CAM Builder...................................................................................................................................4-25Jogging...........................................................................................................................................4-30VisualMotion GPS 6.0Oscilloscope...................................................................................................................................4-33VisualMotion32, CLC_DDE Release6............................................................................................4-33Show Program Flow.......................................................................................................................4-334.7The Data Menu...............................................................................................................................4-35CAM Indexer..................................................................................................................................4-35Events.............................................................................................................................................4-35Field Bus Mapper (CLC-D Only).....................................................................................................4-37I/O Mapper.....................................................................................................................................4-40PID Control Loops..........................................................................................................................4-44PLS.................................................................................................................................................4-49Points..............................................................................................................................................4-57Registers........................................................................................................................................4-59Registration (Not Functional for GPS 6.0)......................................................................................4-62Sequencer......................................................................................................................................4-63Variables.........................................................................................................................................4-66Zones.............................................................................................................................................4-674.8The Status Menu............................................................................................................................4-68Diagnostic Log................................................................................................................................4-68Drives.............................................................................................................................................4-68Drives on Ring................................................................................................................................4-68System............................................................................................................................................4-69Tasks..............................................................................................................................................4-694.9The Options Menu..........................................................................................................................4-714.10Help................................................................................................................................................4-725Programming Concepts5-15.1Overview...........................................................................................................................................5-15.2Program Tasks.................................................................................................................................5-1Command Execution........................................................................................................................5-15.3Events...............................................................................................................................................5-2Time-based Events..........................................................................................................................5-2Distance-based Events....................................................................................................................5-3Repeating Axis Position (Rotary) Events..........................................................................................5-5Interrupt Input Events.......................................................................................................................5-6Extended External I/O Events..........................................................................................................5-7VME Events......................................................................................................................................5-7Feedback Capture (Probe)...............................................................................................................5-9Event Tables..................................................................................................................................5-105.4Subroutines....................................................................................................................................5-10Function Arguments and Local Variables.......................................................................................5-105.5Sequencer......................................................................................................................................5-11Single Stepping a Sequencer Step.................................................................................................5-12 IV Contents DOK-VISMOT-VM*-06VRS**-FKB1-AE-PVisualMotion GPS 6.0DOK-VISMOT-VM*-06VRS**-FKB1-AE-P Contents VSingle Stepping a Step Function....................................................................................................5-125.6Data and Expressions....................................................................................................................5-13Integers and Floats.........................................................................................................................5-13Constants and Variables................................................................................................................5-13Expressions....................................................................................................................................5-15Mathematical and Logical Operators..............................................................................................5-165.7Tables.............................................................................................................................................5-17Event Table....................................................................................................................................5-19CLC Path Planner...........................................................................................................................5-20Absolute Point Table......................................................................................................................5-22Relative Point Table.......................................................................................................................5-23Zone Protection Table....................................................................................................................5-246Icon Programming 6-16.1Introduction.......................................................................................................................................6-1Working with VisualMotion’s Icon Palettes and Buttons ..................................................................6-1Connecting Icons..............................................................................................................................6-3Icon Labels and Comments .............................................................................................................6-5User Defined Labels.........................................................................................................................6-56.2CLC Icons.........................................................................................................................................6-6Single Axis Icon Palette....................................................................................................................6-6Coordinated Motion Icon Palette......................................................................................................6-7ELS Icon Palette...............................................................................................................................6-8Utility Icon Palette.............................................................................................................................6-9Accel...............................................................................................................................................6-10Axis.................................................................................................................................................6-11AxisEvt............................................................................................................................................6-16Branch............................................................................................................................................6-17Calc................................................................................................................................................6-19Cam................................................................................................................................................6-22CamAdj...........................................................................................................................................6-23CamBuild........................................................................................................................................6-24Cam Indexer...................................................................................................................................6-26Circle..............................................................................................................................................6-30Decel..............................................................................................................................................6-32ELS.................................................................................................................................................6-33ELSAdj............................................................................................................................................6-36ELSMode........................................................................................................................................6-37Event..............................................................................................................................................6-38Finish..............................................................................................................................................6-39Go...................................................................................................................................................6-40Home..............................................................................................................................................6-41I/O...................................................................................................................................................6-42。
UAVP 汉语手册
手册用於建造與操作專業的悬停平台特征这项发展的目标是要建造一个普遍的悬停平台包括以下特征:单一电子板，额外的元件有馬達，馬達控制器，遥控系统和机身/框架电缆布线容易防干扰设计，不需要特别错综复杂的技能可編程信號更新（到250 hz）自定义设置为不同的马达/控制器/螺旋桨组合另外2个遥控渠道为控制伺服机(照相机角度)7组LED驱动渠道，每一组可驱动500mA!音响信号作为低电池,无线信号中断警告和寻找指引陀螺仪：3陀螺模块adxrs300/150（推荐）或1x adxrs300/150和1xidg300可通過RS232 或遥控-发射机更改編程參量失去控制时自动降落伞系统触发器可选数码加速度传感器lis3lv02dq可选数字指南针传感器hmc6352可选数字气压传感器smd500可选全球衛星定位(在开发中：GPS (ublox)选择项允许某种程度的个人宁愿，一些选项可以选择或省略。
在所有情况下，这些选项可以在以后添加或删除。
但是一些选项会对其它的选择宁愿有影响。
所需的部分元件会在建造程序中的每个选项中分别提及零件名单基本远程控制模型设备4 X 无刷马达2 X 顺时针方向转螺旋桨（即epp1045或其他，与使用的马达相合适）2 X 逆时针方向转螺旋桨（即epp1045或其他，与使用的马达相合适）4 X 无刷控制器(PWM 或TWI/i2c)，与马达的电力要求相同，yge I系列或Holger’s i2c 控制器。
这些无刷控制器给予很好的表现，但其他模式也可以使用。
1 x 简单的5渠道无线电发射,接收器（推荐7渠道)或者也可以用有PPM复合输出的接收器电子零件为了节省空间和重量，大部分的电子元件是SMD封装。
用铅笔型烙铁和稳定的手,贴片零件是很容易焊接的. 全部电子元件都是标准零件及包装.1 X 印刷电路板，在www.lipoly.de 或 购买1 × U1 pic16f876或876a （dil28 ，165117 ）与目前的Hex文件编程,预先编程的芯片可以由作者或www.lipoly.de 或 购买1 x U2 TPIC6B595N (DIL20)1 × U3 tl431稳压器（TO92）1 X 石英16 MHz （hc49u ）6 x R1,R2,R3,R18,R19,R23 SMD 电阻器10k 5% (0805)15 x R6,R7,R8,R10,R11,R12,R13,R14,R15,R21,R17,R24,R25,R26,R27 SMD 电阻器4,7k 5% (0805)3 x R4,R9,R20 SMD 电阻器1k 5% (0805)1 x R5 SMD 电阻器2,2k (0805)1 x R22 SMD 电阻器68 5% (0805)4 x R28,R29,R30,R31 SMD 电阻器180 5% (0805)1 x R16 SMD 电阻器100 5% (0805)4 x D1,D2,D3,D4 SMD-二极管LL4148 (SOD80) 注意PCB的方向!1 x D5 SMD LED 蓝色30mA, PLCC21 x D6 SMD LED 红色30mA, PLCC21 x D7 SMD LED 绿色30mA, PLCC21 x D8 SMD LED 黄色30mA, PLCC23 x Q1, Q2, Q3 NPN 晶体管BC548B 或相似的(TO92)4 x C1, C2, C6, C7 SMD 电容器100nF (0805)2 x C4, C5 SMD 电容器22pF (0805)2 x C8, C9 SMD 钽电容器1μF1 x C3两极电容器100μF 10V, 辐形包装, 注意PCB 的方向！1 × L1的电感线圈100至220 μ h ，0,1A ，轴向包装1x 所有K 36pin 插针式连接器RM2,54 平直,被金镀锌, 可拆2x 所有K 12pin 插座连接器RM2,54 平直, 可拆2X U1 IC 插座dil14 （2个安装一排做成dil28 ）选择"LEDs"大家都希望有所不同照明效果任何类型的LED 都可以。
动作捕捉设备概述
动作捕捉的应用状况及相关产品动捕系统一般来说，应用都比较广泛呀，只是可能不同品牌，技术略有差别，相对来说国外品牌占的市场份额更大一些，作为一门新兴的动作捕捉技术，惯性动捕的出现，打破了光学动捕占据市场绝对主导的行业格局，被视为动作捕捉界的新生力量。
基于惯性传感器系统的动作捕捉技术是一项融合了传感器技术、无线传输、人体动力学、计算机图形学等多种学科的综合性技术，技术门槛要求很高。
虽然惯性动作捕捉技术出现的时间并不长，但随着它在各行业中的使用，其卓越的性能很快就显示出来了。
惯性动作捕捉，是一种新型的人体动作捕捉技术，它用无线动作姿态传感器采集身体部位的姿态方位，利用人体运动学原理恢复人体运动模型，同时采用无线传输的方式将数据呈现在电脑软件里。
惯性动作捕捉系统出现之前，最常见的是光学动捕技术。
它是通过在演员身上贴marker点，然后用高速摄像机来捕捉marker点的准确位移，再将捕捉数据传输到电脑设备上，由此完成动作捕捉的全过程。
光学动捕的整套设备的成本极为昂贵，架设繁琐，易受遮挡或光干扰的影响，给后期处理工作带来很多麻烦。
对于一些遮挡严重的动作来说，光学动捕无法准确实时还原例如下蹲、拥抱、扭打等动作。
而基于惯性传感器系统的动作捕捉技术的出现，大大改善了这一现状。
和光学动捕技术相比，惯性动作捕捉技术有着对捕捉环境的高适应性，它的技术优势、成本优势和使用便捷的优势，使得它在各行业有着优异的表现。
在影视动画、体验式互动游戏、虚拟演播室、真人模拟演练、体育训练、医疗康复等领域，惯性动作捕捉系统都有着明显优于其他设备的特点。
惯性式动作捕捉系统原理动作捕捉系统的一般性结构主要分为三个部分：数据采集设备、数据传输设备、数据处理单元，惯性式动作捕捉系统即是将惯性传感器应用到数据采集端，数据处理单元通过惯性导航原理对采集到的数据进行处理，从而完成运动目标的姿态角度测量。
在运动物体的重要节点佩戴集成加速度计，陀螺仪和磁力计等惯性传感器设备，传感器设备捕捉目标物体的运动数据，包括身体部位的姿态、方位等信息，再将这些数据通过数据传输设备传输到数据处理设备中，经过数据修正、处理后，最终建立起三维模型，并使得三维模型随着运动物体真正、自然地运动起来。
Anilab 实验动物行为监控系统 说明书
A Graphic State Notation Programfor laboratory Animal Behavior Monitor ControlVersion 2.40Vogel Conflict Drinking实验动物行为监控系统V ogel饮水冲突用户手册安来软件科技有限公司AniLab Software & Instruments Co., Ltd. ©2009感谢您购买并使用宁波市科技园区安来软件科技有限公司的产品，在使用本产品前，请仔细阅读下面的许可协议。
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Ascension MotionStar Wireless2电磁式动作捕捉--说明书(中文版)
Ascension MotionStar Wireless2电磁式动作捕捉
美国Ascension公司的人体动作捕捉系统MotionStar Wireless2使用了全新的增强型的位方式，通过环境的分析与条件约束，可以在捕捉的运动数据里有效地消除噪声和毛刺，动作的捕便捷而且精确。
客户的系统将根据自身的需要配置传感器的数量。
使用MotionStar系统可以实时全身运动姿态而保证数据没有延迟。
可以同时捕捉多人的运动数据同样也是是MotionStar的一大
►DC磁场方式可以保证监测点的数据不会遮挡（相比摄象机方式如VICON）►RF无线数据发送方式可以让模特的动作不受限制（相比有线传感器方式）►多人动作捕捉同时进行，数据不会丢失
MotionStar应用领域:
►3D游戏、电影、电视节目的动画角色捕捉
►现场表演动画
►人体CAD模拟
►虚拟原型
►体育和医学分析
►生物力学分析
►人体体能评估
►互动游戏、康复评估与反馈
MotionStar的主要性能指标
技术指标。
Qualisys光学动作捕捉系统--说明书(中文版)
Qualisys光学动作捕捉系统Qualisys光学动作捕捉系统在全球拥有众多用户群体，1989年至今，在全球35个国家安装使用已超过700多套。
Qualisys动作捕捉系统是世界上唯一同时支持主动式和被动式动作捕捉的光学式动作捕捉系统,还支持水下捕捉的动作捕捉系统。
Qualisys光学动作捕捉系统使用高速摄像机来精确捕捉带有主动或被动标记点的可测量物体的运动。
该技术可以准确、可靠、实时地将高质量的数据传送给使用人员。
强大的软件分析工具使对基本动作的计算（如速度、加速度、旋转、角度）变得简单，目前光学动作捕捉已经被广泛接受并应用在全球各个领域。
它让使用其他方式难以测量的动作捕捉变得简单。
Oqus 500高速视频动作捕捉摄像机为Qualisys动作捕捉系统提供了一个新的平台，除了精密度和实时标记以外，该像机还能录制高速度、高分辨率的视频。
此双重功能性为全新的应用领域开启了一扇大门。
Qualisys第三代高质量像机，装置了独特的实时计时器。
Oqus 500高速视频动作捕捉摄像机主要特色:●高速运动捕捉●高速视频●传感器分辨率：0.3，1.3，像素4M●与网络实时●适合于较低滞后时间的体系机构●无拍摄限制●无标记限制●防水机架●无风扇，无噪音●便携式或固QTM是Qualisys 动作捕捉系统特有的跟踪管理软件，用于和任何型号的Qualisys像机进行无缝的结合，确保快速和准确的数据。
用户可以使用该系统实时的进行2D, 3D和 6DOF运动的捕捉，将延迟降到最低。
QTM可以满足具有丰富经验使用者的所有先进性应用要求，包括从医药学方面到生物工程学。
它不仅能够和强电金属和 EMG设备的无缝结合并同步，还能够将数据及时的导入到第三方软件中，从而促使QTM成为最流行的艺术软件。
QTM 以先进的数据运算法则为基础，确保了高速，高准确和低延迟特色：●2D/3D/6DOF 数据跟踪●标记点和高速视频数据●实时数据流●最低延迟 6ms●自动标记点识别●被动和主动的标记点●视频覆盖图●可扩展的系统Qualisys 光学动作捕捉系统优势1.同时支持主动式和被动式的光学动作捕捉系统在新加坡的Republic Polytech室外游泳池中安装了 8个水下拍摄系统。
Vicon动作捕捉系统操作手册
Vicon动作捕捉系统操作手册目录目录 (2)1.1 仪器简介 (3)1.2 仪器主要部件 (4)1.2.1 硬件设施 (4)1.2.2硬件的连接 (6)2.1摄像机设置和采集区域选择 (9)2.2标定 (17)2.2.1定位MX cameras ，使用“Aim MX cameras”选项 (17)2.2.2 标定MX cameras ，使用“Calibrate MX cameras”选项 (19)2.2.3 设定拍摄区域的原点 (23)2.3 数据采集 (25)2.3.1 粘贴标志点及形态学测量 (25)2.3.1.1 两套方案优缺点比较 (26)2.3.1.2 注意事项 (26)2.3.1.3 操作步骤 (26)2.3.2 动作采集 (31)2.3.2.1 建立新的database (31)2.3.2.2 建立静态模型 (34)2.3.2.3 采集实验动作 (41)3.1 数据的处理 (43)3.2 数据的输出 (50)3.2.1 查看处理后的数据 (50)3.2.2 输出处理后的数据 (51)1. 仪器的主要介绍其中包括，仪器的基本信息，主要部件组成，硬件的安装和设置（应包括硬件的连线说明等），仪器的应用等。
如果仪器配有相关的工具附件也在此节进行说明。
1.1 仪器简介英国Oxford Metrics Limited公司是世界上一家非常著名的光学动作捕捉（Motion Capture）系统供应商，它的这项技术在70年代服务于英国海军，从事遥感、测控技术设备的研究与生产。
进入80年代他们将自己在军事领域里的高新技术，逐渐用于民用方面，在医疗、运动、工程、生物等诸多领域生产制造用于动作捕捉的Motion Capture系统。
80年代末，OML又将动作捕捉系统技术应用于影视的动画制作领域。
Vicon是英国OML公司生产的光学动作捕捉motion capture系统。
它是世界上第一个设计用于运动捕捉的光学系统，它以自己非凡的技术性能在motion capture系统硬件制造领域赢得了极高的声誉，并且改写了motion capture系统传统意义上涵盖的内容。
Phasespace运动捕捉系统软件操作手册
北京朗迪锋科技有限公司Phasespace操作手册一：校正软件：calibrate软件系统硬件安装调试完成后，第一步要做的是校正系统。
校正系统需要使用的软件是Calibrate 软件。
(注意：主要用于系统初次安装完后的调试，如果摄像机和主机基站之间的连接没有发生变化，摄像机没有发生移动，校正这一步不需要重复)打开calibrate软件，选择calibration Wizard：选择find server,查找主机地址，默认情况下市192.168.1.230。
打开校正杆，放到场地中心。
点击continue，校正杆灯亮，便会看到如图所示的摄像机方框，同时看到方框中的白点，白点为校正杆的发光点。
先观察摄像机是否每个方框中有点，如果有摄像机没有看到任何点或者没有点的话，摆动摄像机角度，直到摄像机中看到有点在方框中。
点击continue,一直方框全红的下一步，如图所示：北京朗迪锋科技有限公司现在开始校正摄像机的区域，手持校正杆（注意手不要挡住校正杆的led灯），让校正杆子朝向摄像机，由内向外人转圈，人转圈的时候速度比正常走路慢一点即可，最好转圈时候高低各一圈。
等转圈转到方框中绿色填满每个方框都有百分之八十左右，至少中心的区域要填满。
点击两下continue,直到如下图所示，等待30秒北京朗迪锋科技有限公司接下来出现如下界面：点击continue，开始定坐标轴，如图所示，当按钮出现绿色，点一下地面，直到闪下绿色，再点另外一下地面，分别用校正杆点三下，这三下分别是原点，X轴点，Z轴点，Y轴是计算出来，朝上的:北京朗迪锋科技有限公司校正杆竖直点下地面，定义原点：拿起校正杆竖直点等X出现绿色下地面，定义X轴：同理，定义Z轴，最后点击finuish即完成校正北京朗迪锋科技有限公司二．Master软件一般情况下使用该软件采集数据。
穿好衣服后，打开controller,打开master软件，，查找server地址192.168.1.230，点connect 采集数据。
Qualisys光学动作捕捉系统--说明书(中文版)
Qualisys光学动作捕捉系统Qualisys光学动作捕捉系统在全球拥有众多用户群体，1989年至今，在全球35个国家安装使用已超过700多套。
Qualisys动作捕捉系统是世界上唯一同时支持主动式和被动式动作捕捉的光学式动作捕捉系统,还支持水下捕捉的动作捕捉系统。
Qualisys光学动作捕捉系统使用高速摄像机来精确捕捉带有主动或被动标记点的可测量物体的运动。
该技术可以准确、可靠、实时地将高质量的数据传送给使用人员。
强大的软件分析工具使对基本动作的计算（如速度、加速度、旋转、角度）变得简单，目前光学动作捕捉已经被广泛接受并应用在全球各个领域。
它让使用其他方式难以测量的动作捕捉变得简单。
Oqus 500高速视频动作捕捉摄像机为Qualisys动作捕捉系统提供了一个新的平台，除了精密度和实时标记以外，该像机还能录制高速度、高分辨率的视频。
此双重功能性为全新的应用领域开启了一扇大门。
Qualisys第三代高质量像机，装置了独特的实时计时器。
Oqus 500高速视频动作捕捉摄像机主要特色:●高速运动捕捉●高速视频●传感器分辨率：0.3，1.3，像素4M●与网络实时●适合于较低滞后时间的体系机构●无拍摄限制●无标记限制●防水机架●无风扇，无噪音●便携式或固QTM是Qualisys 动作捕捉系统特有的跟踪管理软件，用于和任何型号的Qualisys像机进行无缝的结合，确保快速和准确的数据。
用户可以使用该系统实时的进行2D, 3D和 6DOF运动的捕捉，将延迟降到最低。
QTM可以满足具有丰富经验使用者的所有先进性应用要求，包括从医药学方面到生物工程学。
它不仅能够和强电金属和 EMG设备的无缝结合并同步，还能够将数据及时的导入到第三方软件中，从而促使QTM成为最流行的艺术软件。
QTM 以先进的数据运算法则为基础，确保了高速，高准确和低延迟特色：●2D/3D/6DOF 数据跟踪●标记点和高速视频数据●实时数据流●最低延迟 6ms●自动标记点识别●被动和主动的标记点●视频覆盖图●可扩展的系统Qualisys 光学动作捕捉系统优势1.同时支持主动式和被动式的光学动作捕捉系统在新加坡的Republic Polytech室外游泳池中安装了 8个水下拍摄系统。
奔牛机械公司的特殊抓取器设计与实验说明书
6th International Conference on Machinery, Materials and Computing Technology (ICMMCT 2018)Design of Gripper for Special Manipulator of Milk MachineKong Jiali1, 2, a, Ning Tingzhou1, 2, b and Zhang Weiwei1, 2, c1 School of Mechanical Engineering, Shandong Huayu University of Technology, Dezhou 253034, China2 College of Engineering, China Agriculture University, Beijing 100083, Chinaa ********************,b *********************,c ******************** Keywords: manipulator, gripper, structureAbstract: By analyzing the working environment and mode of manipulator, the structure of manipulator was designed, which has four shafts, the upper and lower shaft, the shaft of rotation, the telescopic shaft, and the rotation shaft. The main structure of manipulator was divided into three parts, which are base part, the four shaft part, and the hand part. A vacuum sucker is mounted on the gripper to absorb the workpiece. Experiments showed that the velocity of manipulator are fast, stable without trembling.1.IntroductionManipulator is mainly used in labor-intensive processing industry, instead of manual to complete monotonous repeated work, improve productivity and product pass rate [1]. As a production tool with higher intelligence, manipulator has been widely used and developed in recent years [2]. The application of manipulator expands the function of human limbs and brain, and avoids dangerous, harmful, low temperature and high fever work. The arm is connected to the bottom and middle of the hand, and there is no joint arm and cross section arm [3]. The manipulator consists of a base, shoulder, arm, elbow, wrist and gripper [4]. The bottom cover of the soybean milk maker is a cylindrical and light object, about 0.2 kg. It can be picked up with a very small force. In order to prevent scratching the surface, a vacuum sucker is used to pick it up. The surface of the object is smooth, and the sucker fits well with the surface of the object. The layout of the sucker has an important influence on the stability and safety of the clamping workpiece [5]. The forces between the suckers will deviate from each other if the arrangement is not reasonable, which can generate torque and bending moment, make the workpiece skew when clamping. There is a risk of sliding during operation when it does not place on the correct position of the mould, which may lead to production accidents.2.Design of gripper for gripper2.1Methods of obtaining vacuum by suckerThe methods of obtaining vacuum by sucker are mainly as follows, the squeezing and exhausting method, the vacuum method through vacuum pump and the airflow negative pressure method. The squeezing and exhausting method needs to apply certain external force in the sucker to realize. The external force is small and may produce less adsorption, thus, the workpiece is not tight while the external force will damage the workpiece. So it is very difficult to grasp the external force. This method was not suitable. The vacuum method goes through vacuum pump: in order to absorb the workpiece, the vacuum pump is used to pump the air through the vacuum valve to draw the air from the sucker’s cavity to form a negative pressure. This method requires a vacuum pump, which increases the burden of the equipment, and because the workpiece is light, there is no need for greater negative pressure. This method was neither adaptive. The airflow negative pressure method is: in order to make the suction disk produce negative pressure to absorb the workpiece, it can be mainly achieved by the opening of the control valve, then the flowing air can produce the high speed jet in the trachea. This kind of method is quite easy torealize, only adds one vacuum valve in the air path. The generating negative pressure is also relatively stable, so this method was adequate. Through the analysis of the above three methods of obtaining vacuum, the third method was adopted for the sucker of the manipulator.2.2 Selection of vacuum suckerSelection method of vacuum sucker:1) determining the diameter of the sucker according to the weight of the workpiece.2) determining the diameter of the sucker and the number of suckers according to the area of the workpiece.3) determining the material and style of the sucker according to the material and shape of the workpiece.The method of selecting the sucker by experience, the conservative calculation method of suction force of the sucker is the cm2 of the radius of the sucker, that is the kilogram numbers of the suction force.Figure 1 Schematic diagram of hand claw grabbing workpieceThe working status of the manipulator clamping piece(the bottom cover of the soybean milk maker) is shown in figure 1.Calculation conditions, the outer diameter of the clamping part of the bottom cover is 70 mm and the weight is 0.2 kg. The primary election diameter of the sucker is 2 cm. Calculating the suction force of sucker isµSPF = (1)Where S is the surface area of the sucker, P is the air pressure, μ is the safety factor, generally takes up to 2.5. According to the sucker sample supplied by some sucker companies, the vacuum degree of the sucker is -750 mbar(0.75kg/cm2), the diameter of the sucker is 2 cm, the safety factor is 3. It is concluded that F equals to 0.785kg. Four same suckers are chosen, so the total suction force of the manipulator is 3.14Kg. It is much larger than the weight of the workpiece, which can completely meet the grasping conditions. Another advantage of the choice of the sucker with a large surface area is that the large contact area can maintain good stability. As shown in Figure 1, the four suckers are installed by a symmetrical distribution method. The two suckers have an angle of 60 degrees, which can be well supported and automatically aligned.2.3 Structure design of gripperFigure 2 Structure of gripperThe structure of the gripper is shown in Figure 2. It is made up of 5mm thick stainless steel. It has high strength and stiffness, so it can withstand large and frequent impact. The surface is notrusty, so there is no rust and other foreign objects falling down when the workpiece is clamped, which can meet the requirement of the health.2.4Cylinder selection of gripperThe slider finger cylinder was chosen. The volume of the cylinder is smaller than that of the ordinary cylinder. There is a linear guide rail in the middle and two sliding rails slide on the guide rail. The structure not only occupies less space, but also can withstand large torque, and it has quick sensitive and high precision. A magnetic switch is installed on the cylinder to detect the opening and closing of the hand claw [6][7]. The selected model is MHF2-12D2. Its type represents 2 hand claws, 12mm cylinder diameter, double-acting cylinder, ±0.05 repetition accuracy, 48mm long route. The slider finger cylinder is shown in Figure 3. The main body parameters of manipulator are shown in Table 1.Figure3 Slide finger cylinderTable 1 Main body parameters of manipulatorParameters ValuesLoad/ kg 5Positional accuracy/ mm 0.53.ConclusionsThe structure of manipulator is designed according to the size and shape of the gripping workpiece. The vacuum of the sucker was obtained by the airflow negative pressure method. The size, number and distribution of the sucker are calculated according to the weight of the workpiece. The gripper satisfies to the requirement of clamping the bottom cover of soybean milk machine. It provides a more secure and stable working environment for grass-roots operators.References[1] Mei Xuechuan. (2012) Development and Research of stamping equipment loading and unloading Robo. Guangzhou: South China University of Technology.[2] Yang Zhilong. (2015) Research on Modeling Design of Intelligent Mechanical arm. Chinese machinery, 3, 63-64.[3] Fan Xiaolan, Zhao Chunfeng. (2012) The manipulator based on PLC control in the implementation of the MCGS. Manufacturing automation, 6-8,25.[4] Li Xiaochen, Liu Ziyang, Li Deyuan. (2014) Design and Research of six degrees of Freedom underwater manipulator. Hydraulic and pneumatic,3,63-64.[5] Guan Ming, Zhou Xilun, Ma Lijing. (2012) Design of manipulator control system based on PLC. Coal mine machinery, 120-121,142.[6] Zhang Yonglin. (2004) Research and Design of Pneumatic System in Full Packing Machingfor Cranular Material. Hydraulic and pneumatic, 11, 33-34.[7] Zhou Qi, Wu Wanzhong, Wu Gang. (2013)Design and manufacture of multifunction Cammanipulator. Industry and Technology Forum, 19, 55-56.。
Noitom Perception Legacy-物理惯性动作捕捉系统--说明书(中文版)
PERCEPTION - LEGACY 硬件特性
单模块仅重 12 克 轻巧便捷 全无线设计，便于穿戴 符合人体工程学的绑带和动捕服设计 通过 ISM 2.4 GHz 无线频段传输 无线协议符合美国 FCC 及欧盟 CE 认证 超高速计算速率达 480 fps 数据输出帧率 48 fps / 96 fps 可在任何室内外环境下工作 可在任何光线环境下使用 适应性强 有效的抗磁场干扰算法 温度适应性极强 防水等级 IP63
无线数据主节点
节点数量 定向天线/全向天线 三角架 无线传输频段 1 各1 1 2.4 GHz ISM 室内 50 m 室外 100 m 数据输出接口 数据输出速率 USB 2.0 48 fps / 96 fp线数据主控节点 绑带/紧身衣 含包装总重 12 g 60 g 400 g 7.5 kg
Noitom Perception Legacy 物理惯性动作捕捉系统 目录 全身效果图 PERCEPTION – LEGACY 服务客户 PERCEPTION - LEGACY 软件特性 PERCEPTION - LEGACY 硬件特性 传感器子节点 无线数据主节点 重量 尺寸 电源 数据样例
无线高速
传感器子节点
姿态测量范围 加速度量程 角速度量程 角度测量分辨率 三轴 360 deg ± 8 g / ± 24 g ±2000 dps 0.02 deg Roll < 0.5 deg 姿态解算静态精度 Pitch < 0.5 deg Yaw < 1.5 deg 最大更新速率 480 fps
全身效果图
Perception Legacy 服务客户
电影、动画制作等公司 科学研究机构 需要大动态的运动分析
PERCEPTION - LEGACY 软件特性
Animazoo IGS-190-M惯性动作捕捉系统
Animazoo IGS-190-M（mobile）物理惯性动作捕捉系统Animazoo IGS-190-M（mobile）物理惯性动作捕捉系统安装简单，小巧易存，且适合于户外应用环境。
除了这些与其它惯性系统类似的特点外，Animazoo IGS-190-M采用正在申请专利的足迹算法，可提供固定足迹数据。
该足迹算法可以解决数据所存在的模糊不清，难以清洁的问题。
与其它物理惯性动作捕捉系统的最大区别在于其能够与硬件同步，可以对模特髋部进行跟踪并提供整体定位数据（6自由度），这些功能都是普通惯性系统所缺少的。
Animazoo公司开发的ExacTrax超声波跟踪系统为声纳三角测量装置，与“Animazoo IGS-190-M（mobile）物理惯性动作捕捉”连接后，可将Animazoo IGS-190-M升级为“IGS-190-H （hybrid）物理惯性动作捕捉”。
声纳装置发射的定位数据在电视直播、多演员表演中，尤其是可作为指南，对后期制作的光学性能数据进行清洁，消除模糊不清有着重要作用。
ExacTrax超声波跟踪系统配有20个微型扩音器，并能最多增加至96个，可适应L形、不规则形状或甚至各种地板和楼梯。
该系统可与4套Animazoo IGS-190-M（mobile）物理惯性动作捕捉系统组合使用（非体育动作时可配8套）。
“IGS-190-H（hybrid）”软件无须在声纳硬件上使用便可编辑由“IGS-190-M（mobile）”捕捉的数据，所需时间稍长，但用户得到的光学性能结果完全相同。
全部“IGS-190-M （mobile）物理惯性动作捕捉”系统均配有“IGS-190-H （hybrid）”软件的使用证书，软件包括“关键帧编辑器”，是为了本系统特别设计的功能，可以生成光学性能数据或更佳数据。
请您亲身体验它的强大功能。
Animazoo IGS-190-M （mobile）物理惯性动作捕捉系统在每个缚带或莱卡动作捕捉服安装有十九个火柴盒大小的陀螺仪，在皮肤、肌肉和服饰等方面有13年的应用历史。
PhaseSpace主动式光学动作捕捉系统--说明书(中文版)
PhaseSpace动作捕捉系统是一个实时的运动捕捉系统,它能够实时的捕捉到目标的移动，因为在每中都使用了现场可编程门阵列(FPGA)以及数字信号处理器(DSP’s)。
在动作捕捉过程中,PhaseSp 捕捉系统使用多镜头对多个LED做3角测量，获得具体的位置信息,在10米的范围时系统的解析度10毫米，系统由多个CCD摄像头组成.每秒对每个LED扫描480次。
PhaseSpace动作捕捉系统利用其具有专利技术的硬件和软件来进行复杂的运动捕捉，其依靠其先术与计算机处理能力来获得比现有的其他光学运动捕捉系统更高的品质(包括系统解析度,速度,测等)。
系统的设计重点强调了改进动作捕捉的处理.业内现有系统的空间分辨率水平一般为1000*1000，统的分辨率大约为3600*3600；业界的瞬间清晰度水平为120祯每秒，而该系统的瞬间清晰度水平达祯每秒；被测目标为主动发光模式并具有每个目标自身独有的ID，这种模式使得该系统可以同时个被测目标,而业界的平均水品仅为48个，最重要的是,每个镜头都带有嵌入式的处理器可以实时得的数据，这种配置使得用户可以不用购买昂贵的处理服务器,而且也更有利于系统的平衡。
在增的同时也增加了同样多的处理器，不会影响到系统整体的处理能力,也为今后的升级带来了方便。
PhaseSpace动作捕捉系统包括4个组成部分：LED模块,摄像头,处理硬件以及软件，每个部分都是模在设计和分派任务两个方面都做了仔细的考虑，整个系统在使用过程中的维护和后期的升级都非常PhaseSpace硬件1.LED基站这个2.4 Ghz的无线收发器可以同步LED控制器和服务器,并输出同步信号,包括:GEN-LOCK and IRIG-B.尺寸: 5" x 3" x 1.2"重量: 0.3lbs2.脉冲镜头2个16-bit动态范围的线性探测器带有3600x3600光学解析度(12兆像素).嵌入式处理器处理后的像素可以达到30,000x30,000, 每秒480祯.尺寸: 4.25" x 3.62" x 2.17"重量: 0.5lbs3.LED控制器包含电池RF无线收发器和微处理器,可控制1-64个LED,连续工作时间可达2到4个小时,最长可达8个小时.系统最多可支持同时使用4个控制器尺寸: 5" x 2.75" x 0.85"重量: 0.2lbs4.LED频率为30到480Hz. 高亮红色LED, 可以定制红外,蓝色,绿色或者黄色.尺寸: 0.8" x 0.55" x 0.125"重量: 0.01lbsPhaseSpace动作捕捉特性1.独特性能够实时获取多达120个LED主动标志点的运动轨迹。
naza说明书
未接入 GPS 无 GPS 姿态模式
Naza 控制模式
GPS 姿态模式 尾舵角速度 摇杆线性控制 摇杆命令的含义 姿态模式 最大尾舵角速度为 200° /秒 是 机身姿态控制；摇杆中位对应机身姿态 0˚，摇杆端 点对应机身姿态 45˚ 在距离地面 1 米以上的高度，可以很好地锁定飞行 高度 在有 GPS 信号的情况 下，锁定位置不变 丢失 GPS 信号十秒钟 后，飞机进入姿态模式 无位置锁定， 仅稳定姿态 最大角速度为 150 度/秒，没有姿 态角度限制和垂直方向速度锁定 无 手动模式
DJI 和 Naza 为大疆创新所有的注册商标。本文出现的产品名称、品牌等，均为其所属公司的商标或注册商标。 本产品及手册为大疆创新版权所有。未经许可，不得以任何形式复制翻印。使用本产品及手册不会追究专利责 任。
©2012 大疆创新 版权所有
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产品简介
DJI Naza 主要用于四旋翼和六旋翼飞行器上， 是为多旋翼飞行器爱好者们开发的一种自动驾驶系统。 Naza 自动驾驶系统可以实现姿态稳定和高度锁定功能， 可广泛应用于休闲娱乐、 航拍以及 FPV 等航模运动中。
GPS 与指南针模块为磁敏感设备，请使用该支架来安装 GPS 模块。
USB 线×1
USB 线缆用于设置 MC 和升级固件。
3 针舵机线×8
用于连接主控器和接收机。
3M 胶纸×4
用于将 Naza 系统的各个零件固定到多旋翼飞行器上。
©2012 大疆创新 版权所有
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目录
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Animazoo IGS-180/180i物理惯性动作捕捉系统
产品概述
Animazoo IGS-180/180i物理惯性动作捕捉系统配有18个小型快速串连陀螺仪。
性能灵活，对快速动作和细微动作都可捕捉
1、陀螺仪速度快、重量轻
2、数据品质达到专业生产级水平
3、便于携带、使用简单
简单易用
Animazoo IGS-180/180i物理惯性动作捕捉系统采用莱卡布传感器服，具有结实耐用、重量轻、穿戴舒适的特点，产品还采用了成熟技术的陀螺仪技术。
该产品经过出厂校准，第一次使用该产品的用户可在30分钟之内安装完毕，并开始数据捕捉。
此外，该产品具有很好的便携特性，用户可以把产品带到任何环境中使用。
数据
Animazoo IGS-180/180i物理惯性动作捕捉系统可提供高精度细微丰富动作捕捉数据，成本低廉，是专业人士和高等教育机构的理想选择。
Animazoo IGS-180/180i物理惯性动作捕捉系统不会出现标记物阻挡或错位的问题，同时具备无线数据连接的全部优点。
功能齐全
Animazoo IGS-180/180i物理惯性动作捕捉系统的数据可以通过Animazoo操作系统进行捕捉，捕捉速率为每秒120帧。
借助Animazoo功能强大的驱动程序和插件，用户可以把捕捉数据导入到MotionBuilder、Maya、3D Studio Max、Blender等常用动画制作软件中进行编辑，此外还配有MotionBuilder、 Siemens Jack、UDK和Unity几款软件的实时驱动程序。
兼容性
提供以下软件的实时驱动程序：
MotioBuilder
Maya
3DS
Blender
Siemens UGS Jack
应用范围
适用于3D角色动画、人体姿态模拟、虚拟模型、运动及医疗分析、生物力学分析、游戏互动、高等教育机构等诸多领域。
技术特征
数据品质专业
陀螺仪速度快、重量轻
便于携带、使用简单
采用莱卡布传感器服，结实耐用、重量轻、穿戴舒适
不会出现标记物阻挡或错位的问题，同时具备无线数据连接的优点
特殊应用
目前在真实车辆中对驾驶员动作的实时捕捉是一个重大难题，从光学到电磁式动作捕捉目前都无法有效克服技术本身缺点。
而Animazoo IGS-180i物理惯性动作捕捉系统可实现全真驾驶动作的实时捕捉。