一种高实时性滑觉传感器滑动程度判别模式

光电滑觉传感器是利用光电效应原理,将机械的滑动通过光信号转换为电信号加以检测。光电滑觉传感器的实时性与传感器对滑动程度的判别模式直接相关。通过分析典型的滑动信号,对比传统的滑动程度判别模式,提出了一种新的高实时性滑动程度判别模式,即根据滑动信号单个波形和时间轴包围面积,与滑动信号最大值和波形所占时间乘积的比值大小来判断滑动程度。经试验验证:当上述比值小于25%时,被抓物体与机械手间没有相对滑动。

High real-time slippage distinguishing model on slippage sensor

On the basis of photoelectric effect,photoelectric slippage sensor converts the mechanical slippage into electric signal through optical signal in order to detect.The real-time capability of photoelectric slippage sensor has direct relation to the sensor’s slippage distinguishing model.After analysing the typical slippage signals and comparing with the traditional slippage distinguishing model,a new and high real-time model for slippage distinguishing is put forward.That is distinguishing and validating slippage using the ratio of area between the single wave of slippage signal and time axis to the arithmetic product of the maximum of slippage signal and the timing of the wave.From the experiments,it is concluded that when the ratio is less than 25 percent,there is no slippage between the object being grasped and the robot’s hand.