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農(nóng)業(yè)機器人果蔬抓取中滑覺檢測研究
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國家自然科學基金資助項目（31071325）和江蘇省自然科學基金資助項目（BK2010458）


Slippage Detection in Gripping Fruits and Vegetables for Agricultural Robot
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    摘要:

    利用壓敏電阻作為敏感材料制作了一種靈敏的滑覺傳感器，構建了滑覺信號觀測系統(tǒng)。用短時傅里葉變換方法分析了滑覺信號的頻譜特征，并運用離散小波變換結果來區(qū)分法向抓取力變化與實際發(fā)生的滑動信號，以使滑動信號檢測結果不受法向抓取力變化的影響，試驗結果表明滑覺檢測的穩(wěn)定性。運用二指平行手爪進行了實際的果蔬抓取試驗，驗證了基于滑覺檢測的抓取力調節(jié)效果。

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    A kind of sensitive slippage sensor was developed by using piezoresistor, and a slippage observation system was constructed. The technique of STFT was applied to analyze the spectral information of slippage signal. Then slippage signal was distinguished with the signal resulted from different normal griping forces by using the result of DWT. The experimental results showed that the slippage signal was able to be effectively extracted regardless of different normal gripping force. At last, the experiment of gripping force adjustment was carried out by using two parallel fingers hand equipped with the designed slippage sensor. The experimental results of grasping actual fruits and vegetables demonstrated the promise of this slippage sensor in the agricultural picking robot. 

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周俊,朱樹平.農(nóng)業(yè)機器人果蔬抓取中滑覺檢測研究[J].農(nóng)業(yè)機械學報,2013,44(2):171-176. Zhou Jun, Zhu Shuping. Slippage Detection in Gripping Fruits and Vegetables for Agricultural Robot[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(2):171-176.

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  • 在線發(fā)布日期: 2013-02-04
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