农业机器人果蔬抓取中滑觉检测研究

Slippage Detection in Gripping Fruits and Vegetables for Agricultural Robot

摘要:

利用压敏电阻作为敏感材料制作了一种灵敏的滑觉传感器，构建了滑觉信号观测系统。用短时傅里叶变换方法分析了滑觉信号的频谱特征，并运用离散小波变换结果来区分法向抓取力变化与实际发生的滑动信号，以使滑动信号检测结果不受法向抓取力变化的影响，试验结果表明滑觉检测的稳定性。运用二指平行手爪进行了实际的果蔬抓取试验，验证了基于滑觉检测的抓取力调节效果。

Abstract:

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. 