基于小波的机械手滑觉检测与信息处理

Manipulator Slip Detection and Information Processing Based on Wavelet

本文采用小波分析法获得信号的时域和频域内的特性。采用FSR-402压阻传感器检测机械手夹取过程是否产生滑动,通过LabVIEW软件对信号进行小波变换等处理,对反馈信号进行一系列实验,设定阈值,判断夹取过程是否产生滑动,通过上位机控制对机械手步进电机进行驱动,使得机械手对滑动物体进一步夹紧并保持一定的夹持力。

Wavelet analysis is used to obtain the time and frequency characteristics of the signal.The FSR-402 sensor is used to detect whether the robot gripping process produces slippage.Using LabVIEW Software to perform signal processing such as wavelet transform,final judge whether to slip,drive the stepper motor of the robot by the host computer control.Let the robot increase and maintain a certain clamping force on the sliding object.