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| 基于多传感器数据融合的机器人腕力测量 | |
| 引用本文： | 徐科军,李巧利,刘扬,童利标,梅涛.基于多传感器数据融合的机器人腕力测量[J].仪器仪表学报,2003,24(3):286-290,294. |
| 作者姓名： | 徐科军 李巧利 刘扬 童利标 梅涛 |
| 作者单位： | 1. 合肥工业大学自动化研究所,合肥,230009;中科院合肥智能机械研究所,合肥,230031 2. 合肥工业大学自动化研究所,合肥,230009 3. 中科院合肥智能机械研究所,合肥,230031 |
| 摘 要： | 提出根据手爪上的多个指力传感器的输出变化，通过数据融合方法得到腕力的数值。研制了标定腕力与手爪上指力之间关系的实验台，进行了标定实验。采用径向基函数神经元网络对实验数据进行训练，得到融合网络的权值。融合结果与实测结果相当吻合。 |
| 关 键 词： | 机器人 腕力测量 传感器 数据融合 人工神经元网络 |
Multi-sensors Data Fusion Based Measurement of Wrist Force for Robots |
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| Xu Kejun , Li Qiaoli Liu Yang Tong Libiao Mei Tao.Multi-sensors Data Fusion Based Measurement of Wrist Force for Robots[J].Chinese Journal of Scientific Instrument,2003,24(3):286-290,294. | |
| Authors: | Xu Kejun Li Qiaoli Liu Yang Tong Libiao Mei Tao |
| Affiliation: | Xu Kejun 1,2 Li Qiaoli 1 Liu Yang 1 Tong Libiao 1 Mei Tao 2 1 |
| Abstract: | Proposes to measure the wrist force using the data fusion method according to output variance of finger force sensors on the gripper. A calibrating bench is developed, which detects the relationship between the wrist force and finger force, and the calibrating experiments are carried out. The experimental data are trained using a radial base function artificial neural network, and the weight values for data fusion are obtained.The results of data fusion are identical to the testing results, which shows the data fusion method proposed by this paper is effective. |
| Keywords: | Multi sensors Data fusion Artificial neural network Robot Wrist force |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |