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3D 프린팅 방식 유연 촉각센서의 접촉력 측정 알고리즘 개발
정경화(Kyeong-Hwa Jeong),이주경(Ju-Kyoung Lee),이석(Suk Lee),이경창(Kyung-Chang Lee) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.6
Flexible tactile sensors can provide valuable feedback to intelligent robots regarding the environment around them. This is especially important when robots such as, service robots share a workspace with humans. This paper presents a contact force measurement algorithm of a flexible tactile sensor. This sensor is manufactured by a direct-writing technique, which is one 3D printing method, using multi-walled carbon nano-tubes. An analog signal processing circuit has been designed and implemented to reduce noise contained in the sensor output. In addition, a digital version of the Butterworth filter was implemented by software running on a microcontroller. Through various experiments, characteristics of the sensor system have been identified. Based on three traits, an algorithm to detect the contact and measure the contact force has been developed. The entire system showed a promising prospect to detect the contact over a large and curved area.