Optical fiber based slide tactile sensor for underwater robots

• Published in: Journal of marine science and application Vol. 7; no. 2; pp. 122 - 126
• Main Author: 谭定忠 王启明 宋瑞晗 姚昕 顾义华
• Format: Journal Article
• Language: English
• Published: Heidelberg Harbin Engineering University 01-06-2008; College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
• Subjects: Computer simulation; Dynamic characteristics; Electrical Machines and Networks; Engineering; Geotechnical Engineering & Applied Earth Sciences; Machinery and Machine Elements; Marine; Neural networks; Offshore Engineering; Optical fibers; Power Electronics; Robots; Sensors; Tactile; Underwater; 光学纤维; 机械手; 水下机器人; 触觉传感器; underwater robot; optical fiber; manipulator; tactile sensor; TP242.6+1
• ISSN: 1671-9433; 1993-5048
• DOI: 10.1007/s11804-008-7055-3

In the underwater environment, many visual sensors don’t work, and many sensors which work well for robots working in space or on land can not be used underwater. Therefore, an optical fiber slide tactile sensor was designed based on the inner modulation mechanism of optical fibers. The principles and structure of the sensor are explained in detail. Its static and dynamic characteristics were analyzed theoretically and then simulated. A dynamic characteristic model was built and the simulation made using the GA based neural network. In order to improve sensor response, the recognition model of the sensor was designed based on the ‘inverse solution’ principle of neural networks, increasing the control precision and the sensitivity of the manipulator.