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机器人光纤接近觉复合传感器解耦新方法
引用本文:刘桂雄,李夏妮.机器人光纤接近觉复合传感器解耦新方法[J].华南理工大学学报(自然科学版),2006,34(7):21-25.
作者姓名:刘桂雄  李夏妮
作者单位:华南理工大学,机械工程学院,广东,广州,510640
基金项目:国家自然科学基金;广东省科技厅科技计划;广东省广州市科技计划
摘    要:介绍了一种具有自补偿功能的光纤接近觉距离方位复合传感器的结构和工作原理,提出了一种基于多尺度特征的光纤接近觉复合传感解耦新方法,通过对传感信息的多尺度分辨级进行划分,进而采用不同精度的数值逼近方法实现对耦合方程的求解.文中介绍了该方法的原理、物理意义和具体实现过程.结果表明,该方法具有精度高、实时性好的特点,可以应用于存在类似问题的场合.

关 键 词:机器人  光纤接近觉传感器  解耦  多尺度特征
文章编号:1000-565X(2006)07-0021-05
收稿时间:2005-01-08
修稿时间:2005-01-08

Novel Decoupling Approach to Integrated Optical-Fiber Proximity Sensor for Robot
Liu Gui-xiong,Li Xia-ni.Novel Decoupling Approach to Integrated Optical-Fiber Proximity Sensor for Robot[J].Journal of South China University of Technology(Natural Science Edition),2006,34(7):21-25.
Authors:Liu Gui-xiong  Li Xia-ni
Affiliation:College of Mechanical Engineering, South China Univ. Li Xia-ni of Tech. , Guangzhou 510640, Guangdong, China
Abstract:The structure and working principle of an integrated optical-fiber proximity sensor that detects both the distance and the orientation and possesses the function of self-compensation are introduced in this paper.The corresponding decoupling approach to the sensor is then presented based on the multiscale characteristics.The decoupling process can be divided into two parts: classifying the information based on the multiscale degree and solving the coupling equation via the computational approximation methods with different precisions.The principle,physical meaning and implementation process of the approach are finally discussed,indicating that the proposed approach is so realtime and precise that it can be applied to other similar circumstances.
Keywords:robot  optical-fiber proximity sensor  decoupling  muhiscale characteristic
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