机器人手爪的多传感器数据采集、融合和传输系统

机器人为了灵巧地抓取物体,在手爪上配置了多种传感器,例如,指力传感器、触觉传感器和距离传感器。研制了一套基于DSP的系统,实现传感器数据的采集、融合和传输。系统硬件由数据采集模块、DSP模块和CAN传输模块组成。系统软件包括监控程序、初始化模块、看门狗模块、数据融合模块、CAN通信模块、数字量采集模块、正交编码脉冲计数模块和A/D中断服务程序。该系统实时地采集和融合手爪各传感器的信息,得到手爪与工件的安全连接状态,通过CAN总线传输给主控计算机。

A Data Acquisition,Fusion and Transmission System for Robotic Multi-sensor Grippers

In order to grasp dexterously objects with the gripper, robots install sensors in their grippers, such as finger force sensors, tactile sensors and a displacement sensor. A DSP based system is developed to implement data acquistion, fusion and transmission of sensors. The hardware of this system consists of a data acquisition module, a DSP module and CAN transmission module. The software includes a monitor program, an initialization module, a watchdog module, a data fusion module, a CAN transmission module, a quadrature encoder pulse count module and an A/D interrupt service program. The system collects and fuses data of sensors in real time, obtains the status of grasping objects with the gripper, and sends this information to a host PC through CAN bus.