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为了解决机器人手指压触觉测量中检测系统存在的电磁干扰问题,目前很多研究中采用了具有抗电磁干扰、体积小、质量轻且易封装等优势的光纤光栅压触觉传感阵列。针对机器人手指压触觉传感阵列测点排布问题,提出了一种基于改进粒子群算法的测点优化方法。首先通过有限元仿真得出机器人手指抓握过程的应变场分布情况,然后基于应变场分布结果进行传感阵列测点初选,接着利用改进粒子群算法进行测点优化设计,最后得出载荷较优的测点组合并进行了机器人手指抓取感知实验。基于改进粒子群算法的测点优化仿真实验结果表明,该方法得出的单指及多指的测点组合可以将受力状态识别百分比误差缩小到10%以内,提高了传感器的精度,并通过机器人手指抓取感知实验验证了传感阵列的压触觉感知性能。
Abstract：In order to minimize the electromagnetic interference in the detection system in robot finger pressure tactile measurement, a fiber Bragg grating pressure tactile sensor array with the advantages of anti electromagnetic interference, small volume, light weight and easy packaging is used in many studies. Aiming at the problem of measuring point arrangement of tactile sensor array for robot finger pressing, a measuring points optimization method based on the improved particle swarm optimization algorithm was proposed. Firstly, the distribution of strain field in the process of robot finger grasping was obtained by finite element simulation. Secondly, the sensor array measuring points were selected based on the results of strain field distribution. Thirdly, the improved particle swarm optimization algorithm was used to optimize the design of measuring points. Finally, the optimal combination of measuring points was obtained and the experiment of robot finger grasping perception was carried out. The simulation results show that the measuring points combination of single finger and multi-finger can reduce the percentage error of force state recognition to less than 10%, and improve the accuracy of the sensor. The performance of the sensor array has been verified by the robot finger grasping sensing experiment.
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基本信息:
DOI：10.12194/j.ntu.20201110001
中图分类号:TP212
引用信息:
[1]陆观,刘宏林,徐一鸣.基于改进粒子群算法的光纤光栅压触觉传感阵列测点优化[J],2021,20(03):41-48.DOI:10.12194/j.ntu.20201110001.
基金信息:
国家自然科学基金面上项目（61973178）
2021-04-14
2021
2021-06-16
2021
1