SORRY! I forgot the link! Here it is.
http://www.geology.smu.edu/~dpa-www/robo/nbot/

Regards,
Stephen D. Barnes



> > I probably should have included the time response issue in the original
> > post - sorry!
> >
> > I initially looked at some electrolytic tilt sensors, but the time response
> > was far too slow.  The tilt data will be used to control a mechanical system
> > designed with a 0.1s time response, and we'd like to match the electrical
> > system response to within roughly half that. This is the primary reason we
> > are using accelerometers instead of tilt sensors - all the electrolytic
> > companies I talked to recommended at least a 0.5 second sampling rate, some
> > as much as 2-3s (PLEASE correct me if you know of anything faster?!).
> > Apparently they're more designed for relatively smooth transitions, instead
> > of the jerky movements my project is working with.  We do have an onboard
> > schaevitz capacitive tilt sensor for "steady and level" output, but it
> > doesn't seem to work so well for moving readings.
> >
> > > You might want to look at electrolytic tilt sensors - these have some
> > inherent damping, and you can
> > > add more in software if necessary, or maybe combine with an accelerometer,
> > e.g.use a weighted
> > > avaraging scheme where the weight of the tilt data is reduced when
> > acceleration is high.
>
> Take a look at the following link. The two wheeled balancing robot (inverted pendulum)
> uses the tilt sensor you have, along with a gyro and software filtering to
> achieve a VERY
> stable platform. There are even video clips of the thing operating under less than ideal
> conditions without falling over!
>
> Regards,
> Stephen D. Barnes
>
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