摘要
机械手是机器人的重要部件,机械手能否准确抓取物体取决于其传感器性能的优劣和电路结构的优化。为了提供更多的机械手数据采集方式,设计了基于myRIO的主动激励触觉传感器特性实验系统,采用了激励与采集叠加式结构的主动激励触觉传感器。通过扫频实验,测定了机械臂空载特征频率,采集机械臂抓取物体的特征频率,将二者进行比较。利用MAT⁃LAB对数据进行分析得出其频谱图,验证了基于myRIO的主动激励触觉传感器特性实验系统的可行性。
Manipulator is an important part of robot.Whether the manipulator can grasp the object accurately depends on the performance of its sensor and the optimization of its circuit structure.In order to provide more data acquisition methods for manipulator,design of the experimental system for characteristics of active excitation tactile sensor based on myRIO is selected,and the active excitation tactile sensor with superposition structure of excitation and acquisition is adopted.The no-load characteristic frequency of the manipulator is measured by frequency sweep experiment,and the characteristic frequency of the object grasped by the manipulator is collected and compared.Using MATLAB to analyze the data,the spectrum is obtained,which verifies the feasibility of the experimental system of active excitation tactile sensor characteristics based on myRIO.
作者
张英俊
吴红梅
杨兴梅
马晓璇
段芳
杨雪梅
王民慧
ZHANG Yingjun;WU Hongmei;YANG Xingmei;MA Xiaoxuan;DUAN Fang;YANG Xuemei;WANG Minhui(College of Electrical Engineering,Guizhou University,Guiyang 550025,China)
出处
《智能计算机与应用》
2021年第8期103-106,共4页
Intelligent Computer and Applications
基金
贵州大学“SRT计划”项目(贵大SRT字[2019]042号)。
