Dynamic active antenna - a principle of dynamic sensing
Dynamic active antenna - a principle of dynamic sensing
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动态有源天线——动态传感原理
DOI：
10.1109/robot.1994.351334
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发表时间：
1994
期刊：
影响因子：
--
通讯作者：
M. Kaneko
中科院分区：
文献类型：
--
作者：
N. Ueno;M. Kaneko
本文讨论了一种动态主动传感系统，能够检测柔性梁与物体之间的接触点。所提出的传感系统简单地由一个不敏感的柔性梁，扭矩传感器，关节位置传感器，和执行机构。当运动相位从非接触切换到接触时，感测系统的动力学（诸如惯性矩和刚度）改变。我们发现，在接触过程中的自然频率通常是一个多值的函数的接触位置，这是不可取的，从唯一确定的接触位置的观点。通过在梁的自由端附加适当的质量，可以使该函数接近于单值函数。额外的质量也有助于降低振荡频率，这使我们从处理高频信号中解脱出来。基于此思想设计了硬件模型，并通过实验验证了基本原理。<<ETX>>
This paper discusses a dynamic active sensing system, capable of detecting the contact point between a flexible beam and an object. The proposed sensing system is simply composed of an insensitive flexible beam, a torque sensor, a joint position sensor, and an actuator. The dynamics (such as moment of inertia and stiffness) of the sensing system changes when the motion phase switches from non-contact to contact. We show that the natural frequency during contact is generally a multi-valued function of the contact location, which is not desirable from the viewpoint of determining the contact location uniquely. It is also shown that by adding a proper mass at the free end of the beam, we can make the function close to a single-valued one. The additional mass also contributes to reducing the oscillation frequency, which releases us from treating high frequency signals. We design the hardware model based on this idea, and verify the basic principle experimentally.<<ETX>>