摘要
利用光纤的光强内调制原理设计了一种用于水下机器人的滑觉传感器。详细介绍了传感器的原理和设计方法 ,对传感器的静态、动态性能进行了理论和实验研究。用基于遗传算法的神经网络对滑觉传感器的动态性能进行了建摸和仿真 ,从传感器应用的角度出发 ,依据“逆模型”思想 ,采用神经网络对传感器建立辨识模型 。
An optical fiber type slide tactile sensor on the basis of inner modulation mech anism of the strength type optical fiber is designed.The principle and structure of the sensor are in troduced in detail,followed by theoretical and experimental analysis on the sta tic and dynamic characteristics.The dyn amic characteristic model is bui lt and the simulation is made by using GA based neural network.In order to use the sensor perfectly, the recognition model of the sensor is built based on the principle of “Inverse Solution” using neural networks.As a result,the con trol precision and sensitivity of the manipulator are increased.
出处
《半导体光电》
CAS
CSCD
北大核心
2000年第5期374-376,共3页
Semiconductor Optoelectronics
基金
:1996年中国博士后基金资助项目
关键词
光纤
水下机器人
滑觉传感器
神经网络
optical fiber
underwater robot
slide tactile sensor
neural network
