基于随机共振的机器人二值化触觉传感器降噪方法

A Method for Noise Reducing of Robot Binary Tactile Sensor Signal Based on Stochastic Resonance

机器人触觉传感器由于测量机理、敏感元件、维间耦合干扰、读取电路噪声等多方面的原因 ,存在着较强的干扰噪声 ,这种噪声对触觉信号的二值化过程带来了严重影响 .本文首次利用非线性系统的随机共振现象 ,对机器人触觉传感器的二值化过程进行优化 ,从而实现二值化触觉传感器的降噪 .

Owing to the limit of test principle, sense element noise, dimension coupling interference, and acquiring circuit noise, there exits serious noise in the robot tactile sensor signal, which causes the rough binary realization of the tactile sensor signal. In this paper, stochastic resonance phenomenon exits in nonlinear system is firstly used for optimizing the process of binary realization of the robot tactile sensor signal, in order to reduce the noise level of binary tactile signal. At last, the experimental results show the effectiveness of the proposed method.