| Optical fiber based slide tactile sensor for underwater robots |
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| 作者姓名： | 谭定忠 王启明 宋瑞晗 姚昕 顾义华 |
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| 作者单位： | College of Mechanical and Electrical Engineering Harbin Engineering University，Harbin 150001，China，College of Mechanical and Electrical Engineering，Harbin Engineering University，Harbin 150001，China，College of Mechanical and Electrical Engineering，Harbin Engineering University，Harbin 150001，China，College of Mechanical and Electrical Engineering，Harbin Engineering University，Harbin 150001，China，College of Mechanical and Electrical Engineering，Harbin Engineering University，Harbin 150001，China |
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| 摘 要： | In the underwater environment, many visual sensors don’t work, and many sensors which work well for robots working in space or on land can not be used underwater. Therefore, an optical fiber slide tactile sensor was designed based on the inner modulation mechanism of optical fibers. The principles and structure of the sensor are explained in detail. Its static and dynamic characteristics were analyzed theoretically and then simulated. A dynamic characteristic model was built and the simulation made using the GA based neural network. In order to improve sensor response, the recognition model of the sensor was designed based on the ‘inverse solution’ principle of neural networks, increasing the control precision and the sensitivity of the manipulator.
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| 关 键 词： | 水下机器人 触觉传感器 机械手 光学纤维 |
Optical fiber based slide tactile sensor for underwater robots |
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| Ding-zhong Tan,Qi-ming Wang,Rui-han Song,Xin Yao,Yi-hua Gu.Optical fiber based slide tactile sensor for underwater robots[J].Journal of Marine Science and Application,2008,7(2):122-126. |
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| Authors: | Ding-zhong Tan Qi-ming Wang Rui-han Song Xin Yao Yi-hua Gu |
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| Institution: | College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China |
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| Abstract: | In the underwater environment,many visual sensors don't work,and many sensors which work well for robots working in space or on land can not be used underwater.Therefore,an optical fiber slide tactile sensor was designed based on the inner modulation mechanism of optical fibers.The principles and structure of the sensor are explained in detail.Its static and dynamic characteristics were analyzed theoretically and then simulated.A dynamic characteristic model was built and the simulation made using the GA based neural network.In order to improve sensor response,the recognition model of the sensor was designed based on the'inverse solution'principle of neural networks,increasing the control precision and the sensitivity of the manipulator. |
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| Keywords: | underwater robot manipulator tactile sensor optical fiber |
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