Optical fiber based slide tactile sensor for underwater robots

Ding-zhong Tan , Qi-ming Wang , Rui-han Song , Xin Yao , Yi-hua Gu

Journal of Marine Science and Application ›› 2008, Vol. 7 ›› Issue (2) : 122 -126.

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Journal of Marine Science and Application ›› 2008, Vol. 7 ›› Issue (2) : 122 -126. DOI: 10.1007/s11804-008-7055-3
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Optical fiber based slide tactile sensor for underwater robots

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Abstract

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.

Keywords

underwater robot / manipulator / tactile sensor / optical fiber

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Ding-zhong Tan, Qi-ming Wang, Rui-han Song, Xin Yao, Yi-hua Gu. Optical fiber based slide tactile sensor for underwater robots. Journal of Marine Science and Application, 2008, 7(2): 122-126 DOI:10.1007/s11804-008-7055-3

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