Ring-type combined array transmitter and method of measuring sense of touch force of underwater manipulator with same transmitter

Abstract

The invention discloses a ring-type combined array transmitter and a method of measuring the sense of touch force of an underwater manipulator with the same transmitter, and is used for solving the technical problem that the existing transmitter is poor in practicality. The technical scheme is that the ring-type combined array transmitter is of a ring-shaped structure, and 39 force-sensitive units are distributed on the surface of the ring-type combined array transmitter. The method of measuring the sense of touch force of the underwater manipulator with the same transmitter comprises steps of signal conditioning of a sense of touch force signal measured by the ring-type array transmitter and an environmental temperature signal, data fusion and real sense of touch force output by a first signal output circuit and a second signal output circuit. A signal conditioning circuit achieves signal amplification and RC filtering of the force signal and the temperature signal. A data acquisition circuit achieves digital quantity acquisition of the measured sense of touch force signal and the temperature signal by a microcontroller in a time sharing and chip selection manner. The microcontroller completes BP network data fusion of the force signal and the temperature signal, and achieves real sense of touch force output. Therefore, the measurement of the sense of touch force of the underwater manipulator is completed, and the practicality is strong.

Description

technical field [0001] The invention relates to a transmitter, in particular to a ring-type combined array transmitter. It also relates to a method for measuring the tactile force of an underwater manipulator by using a ring-type combined array transmitter. Background technique [0002] Robot tactile sensing technology is one of the key technologies to realize robot intelligence, and force measurement tactile transducers have been widely used in robot operations. With the continuous development of microelectromechanical systems (MEMS) technology and the emergence of various sensitive materials, it provides a good foundation for the research, design and production of robot tactile sensors. However, due to the complexity of the underwater environment, the sensor has great limitations in the application of underwater robots. The change of water depth causes the change of static pressure to affect the measurement accuracy of the sensor. The static pressure of water may exceed ...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the shortcomings of poor practicability of existing transmitters, the present invention provides a ring-type combined array transmitter and a method for measuring the tactile force of an underwater manipulator using the transmitter

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