Research on Optical Fiber Type Slide Tactile Sensor for Underwater Robot

摘要

An optical fiber type slide tactile sensor on the basis of inner modulation mech anism of the strength type optical fiber is designed.The principle and structure of the sensor are in troduced in detail,followed by theoretical and experimental analysis on the sta tic and dynamic characteristics.The dyn amic characteristic model is bui lt and the simulation is made by using GA based neural network.In order to use the sensor perfectly, the recognition model of the sensor is built based on the principle of “Inverse Solution” using neural networks.As a result,the con trol precision and sensitivity of the manipulator are increased.