摘要
触觉是机器人非常重要的信息来源 ,给机器人安装适当的触觉传感器 ,使机器人具有某些触觉功能 ,可以提高机器人作业的智能化程度 .因此 ,利用光纤外调制机理设计了一种机器人触觉传感器 ,介绍了传感器的结构和工作原理 ,对传感器的静态性能和动态性能进行了研究 ,建立了传感器的数学模型 .研究结果表明 ,这种传感器能够有效地获取触觉信号 。
A tactile sensor mounted on a robot can make teh operation of the robot more intelligent.The structure and principal of a robot tactile sensor based on the outer modulation mechanism of a strength type otical fiber sensor is introduced in detail. Many experiments were done to study the static and dynamic characteristics of a sensor,,and the mathematical model was established as well.The results showed that the could effectively sense the tactile sense and it could be used on a manipulator for soft_grasp.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
2002年第2期78-81,共4页
Journal of Harbin Engineering University
关键词
触觉传感器
光纤
性能
机械手
tactile sensor
optical fiber
characteristic
manipulator
