Active antenna for contact sensing
Active antenna for contact sensing
复制标题
DOI：
10.1109/70.681246
复制
发表时间：
1998-04-01
期刊：
影响因子：
--
通讯作者：
Tsuji, T
中科院分区：
文献类型：
--
作者：
Kaneko, M;Kanayama, N;Tsuji, T
本文提出了一种新的主动传感器系统（有源天线），其不仅可以检测不敏感的柔性梁和环境之间的接触位置，而且可以检测梁接触的环境表面的信息。有源天线简单地由柔性梁、用于移动梁的致动器、用于测量梁的旋转角度的位置传感器和力矩传感器组成，我们首先证明了在没有侧向滑动的情况下，接触距离与梁在旋转中心处所能感测的旋转柔度成正比，根据推动方向和环境的几何形状可能发生的侧向滑动高估了旋转柔度，从而为定位接触点带来了很大的感测误差。本文的目标是在这种条件下找到接触位置。我们探讨如何侦测侧向滑动以及如何决定新的推动方向以避免侧向滑动，并提出一个演算法，可以搜寻到避免侧向滑动的推动方向。该算法的收敛性示出，并讨论了该算法的实际应用与试验的数量和传感精度之间的权衡。
This paper proposes a new active sensor system (active antenna) that can detect not only the contact location between an insensitive flexible beam and an environment but also the information of the environment's surface where the beam makes contact, The active antenna is simply composed of a flexible beam, actuators to move the beam, position sensors to measure the rotational angle of the beam, and a moment sensor, We first show that the contact distance under no lateral slip is proportional to the rotational compliance that the beam can sense at the rotational center, The lateral slip, which possibly occurs according to the pushing direction and the environment's geometry, overestimates the rotational compliance, and as a result, brings a large sensing error for the localizing contact point. The goal of this paper is to find the contact location under such conditions. We explore how to detect a lateral slip and how to determine the new pushing direction to avoid it. We show an algorithm that can search for the pushing direction which ran avoid any lateral slip. The convergence of this algorithm is shown and a practical utilization of this algorithm is also discussed with a trade off between the number of trials and the sensing accuracy.