智能电磁传感器在机器人效应器定位中的应用分析

Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02. Pub Date : 2002-11-09 DOI:10.1109/ROMOCO.2002.1177115

A. Patecki, S. Stępień

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引用次数: 0

摘要

主动机器人-环境交互依赖于机器人在工作空间中的状态信息和环境对象的特征。信息可以从外部传感器获得。许多先进的传感器集中在抓手或效应器上，并与计算机测量系统相连。对于电磁传感器，总是需要计算机与传感器之间的互连。然而，最重要的是设计过程。它基于精确的电磁仿真，从而获得易于转换的输出量。本文给出了用于机器人抓取定位的电磁装置的计算公式和电磁传感器的三维仿真。模拟了位置对磁场分布、涡流和电感的影响，以及输出量随位置的变化。并将计算机计算结果与实测结果进行了比较。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Analysis of smart electromagnetic sensor for robot effector positioning

Active robot-environment interaction leans on information about state of robot in workspace and environment objects features. The information can be obtained from external sensors. Many advanced sensors are concentrated in grippers or effectors and connected to computer measurement system. In the case of electromagnetic sensors, the computer-sensor interconnection is always required. However, the utmost importance is the designing process. It bases on an accurate electromagnetic simulation to obtain easy to convert output quantities. The paper presents equations to calculate electromagnetic devices and the 3D simulation of electromagnetic sensor for robot grasp positioning. The simulation includes influences of the position on field distribution, eddy current and inductivity changes as output quantity depends on position. The solution of computer calculations is compared with measurement.

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Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.

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