摘要
对机器人敏感皮肤信号处理系统进行详细地描述。该系统采用模块化结构,使用高速浮点的数字信号处理器(DSP)和复杂可编程逻辑器件(CPLD)进行并行信号处理。针对敏感皮肤中的多传感器数据融合问题,提出一种在线自适应加权融合算法来实现,该算法依据各传感器方差的变化,及时调整参与融合的各传感器的权系数,使融合系统的均方误差始终最小,从而能在线适应传感器性能改变。试验结果表明该敏感皮肤信号处理系统在感知范围内可以实时为多关节机器人避障提供所需要的环境信息。
Signal processing system of the new robotics sensitive skin based-on DSP and CPLD is described in detail. Parallel signal processing is implemented by using modularized structure and high-speed float DSP and CPLD. For the multi-sensor data fusion of sensitive skin, an on-line adaptive weighted fusion algorithm is realized. The algorithm can adjust the fused sensor's weight according to change in the sensor's variance. At last, keep the square error of fusion system at the minimum. The algorithm can adapt itself to the changes of sensor's character. The experimental result shows that signal processing system of the sensitive skin can real-timely provide environment information for obstacle avoidance of multi-joint robot within sensory area.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2005年第5期21-25,共5页
Journal of Mechanical Engineering
基金
国家自然科学基金(50105002)哈尔滨工业大学基金(HIT.2001.14)资助项目。
