摘要
提出了一种利用触须来识别物体表面轮廓的新方法。传感器采用了二维PSD作为敏感元件,实时地测量由于与物体接触在触须根部所产生的微小位移量。介绍了机器人触须传感器具体的结构及工作原理。由实验数据可知,触须根部位移量的大小与接触的距离成反比,且距离越近位移量变化的速度越快。由此可获得待测物体的位置、距离、角度等信息。
A novel method to recognize the surface profile of a target object with a tactile whisker is suggested. A two-dimensional PSD is used as sensing element to measure the displacement of whisker root in time. The structure and the principle of robot whisker sensor are presented. The magnitude of displacement is inversely proportional to the contact distance. The smaller distance is, the more rapidly magnitude of displacement increases. The localization information,the distance and angular position of a target object are obtained with data of test.
出处
《传感器与微系统》
CSCD
北大核心
2006年第6期83-84,88,共3页
Transducer and Microsystem Technologies
