Robot Tactile Sensor Analysis And Research

Robot tactile sensing technology is one of the key techniques of intelligent robots; tactile sensor is necessary media of interactions between robot and environment. Robot tactile sensing technology imitates human hands to make robot have the perception function, such as contact, sliding and hot, etc. And assistes robot to complete grasping and operational tasks, through detected the three-dimensional force information on the interface to control grasping force control and prevent the relative sliding between object and manipulator, ultimately. Sliding signal is the feedback of manipulator control system, to enforce robot complete high precision grasp and operation tasks.Firstly, using piezoelectric and photoelectric principle designed a robot tactile and slip sensor, which can detect three-dimension force of contaction and slide signal, on the basis of understanding the principles and methods of various tactile sensors. The sensor the advantages of small size, simple structure, reliable operation, good smooth, etc. And designed the signal processing circuits, realized the separated of tactile and sliding signal effectively, and finished detection of contact and slip signal.Secondly, using 3d linear theory and high-order theory established higher-order semi-analytical axisymmetric finite element equations of piezoelectric composite structure, and implemented finite element model analysis for the tactile sensor based on piezoelectric laminated structure. The error of simulation results lower than in 4%, verified the rationality and feasibility of the structure, shorten the cycle of sensor design effectively.Finally, introduced the adaptive fuzzy control method, to control the manipulator grasp force based on designed the adaptive fuzzy controller to eliminated sliding signal. Then, proceed the simulation experiment of thr control system through MATLAB, and the results indicated that the system can detecte sliding signal and control contact force effectively, and realized the grasp control can effectively achieve to the target that grasp soft, fragile and deformation objects safely and steadily.