| 机器人力传感器的各向同性 |
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| 引用本文： | 熊有伦. 机器人力传感器的各向同性. 自动化学报, 1996, 22(1): 10-18. |
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| 作者姓名： | 熊有伦 |
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| 作者单位： | 1.华中理工大学机械学院,武汉 |
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| 基金项目： | 国家自然科学基金,国家863机器人资助项目． |
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| 摘 要： | 提出机器人力传感器各向同性的概念,讨论各向同性的等价条件和对于坐标变换的不变性,阐明各向同性与最大信息量之间的联系,各向同性的结构可实现条件.最后,研究机器人传感器的任务模型和基于任务的传感器优化设计的原则.面向任务的性能指标用于衡量在一定环境下提高传感器获取信息能力的方向.所述原理对于机器人其它外部传感器也适用.
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| 关 键 词： | 智能机器人 力传感器 任务模型 信息量 |
| 收稿时间： | 1993-07-31 |
On Isotropy of Robots Force Sensors |
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| Xiong Youlun. On Isotropy of Robots Force Sensors. ACTA AUTOMATICA SINICA, 1996, 22(1): 10-18. |
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| Authors: | Xiong Youlun |
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| Affiliation: | 1. Department of Mechanical Engineering(1)Huazhong University of Science and Technology Wuhan |
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| Abstract: | A new concept "isotropy" for robot's force sensors is presented on the basis of Fisher's information matrix M. Special emphasis are put on the equivalence repre- sentation and its invariance with respect to coordinate transformation. Ideally, the isotropic sensors may be thought of as maximally informative. However, it is necessary to identify the behavior of force sensors in performing robotic assemby tasks. The task models in the wrench space can be used to define the quality measures for assembly planning and other tasks. It is shown that the optimality conditions for assembly execution are related to the tasks, invironment model and the structure parameters of robot's force sensors. |
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| Keywords: | Intelligent robot Force sensor Task modelling Information. |
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