摘要
为解决智能机器人仿生柔性触角形状感知问题,研究柔性光纤传感方法。建立光纤触觉传感器三维模型,推导出柔性触角探测物体形状的曲率计算公式,建立柔性触角形状传感系统,实验研究光纤布拉格光栅作为传感元件的可行性,分析柔性仿生触角标定误差,得到仿生柔性触角弯曲导致光纤光栅中心波长漂移量与形状曲率的关系,拟合曲线与实际曲线之间的参数偏差小,验证了仿生柔性触角形状光纤传感技术可行性。研究结果表明,光纤传感方法可实现仿生柔性触角形状感知,在智能机器人领域具有应用前景。
In order to solve the problem of the shape perception of bionic flexible antenna for intelligent robot,the flex-ible fiber sensing method was studied.Three-dimensional model of fiber tactile sensor was established,and the curva-ture formula that flexible antenna detected object shape was derived.The flexible antenna shape sensing system was set up,and the feasibility of fiber Bragg grating as sensing element was studied through the experiments.The calibra-tion error of flexible bionic tentacles was analyzed,the relationship of the fiber grating central wavelength drift and shape curvature was goUen,parameter deviation between the fitting curve and the actual curve was small,which veri-fied the feasibility of bionic flexible antenna shape optical fiber sensing technolog.The results show that the optical fi-ber sensing method can realize the shape perception of bionic flexible antennas and has the application prospect in the field of intelligent robot.
作者
赵利明
董明利
李红
孙广开
祝连庆
ZHAO Li-ming;DONG Ming-li;LI Hong;SUN Guang-kai;ZHU Lian-qing(Beijing Engineering Research Center of Optoelectronic Information and Instruments,Beijing Information Science and Technology University,Beijing 100016,China)
出处
《激光与红外》
CAS
CSCD
北大核心
2018年第4期509-514,共6页
Laser & Infrared
基金
教育部"长江学者与创新团队发展计划"项目(No.IRT-16R07)
光电测试技术北京市重点实验室2017开放课题(No.GDKF2017006)资助
关键词
智能机器人
光纤光栅
触觉传感
三维重构
曲率标定
intelligent robot
fiber Bragg grating
tactile sensing
three-dimensional reconstruction
curvature calibration
