Optimization of Fiber Bragg Grating Tactile Sensor Array Based on Improved Particle Swarm Optimization Algorithm

Abstract

In order to minimize the electromagnetic interference in the detection system in robot finger pressure tactile measurement, a fiber Bragg grating pressure tactile sensor array with the advantages of anti electromagnetic interference, small volume, light weight and easy packaging is used in many studies. Aiming at the problem of measuring point arrangement of tactile sensor array for robot finger pressing, a measuring points optimization method based on the improved particle swarm optimization algorithm was proposed. Firstly, the distribution of strain field in the process of robot finger grasping was obtained by finite element simulation. Secondly, the sensor array measuring points were selected based on the results of strain field distribution. Thirdly, the improved particle swarm optimization algorithm was used to optimize the design of measuring points. Finally, the optimal combination of measuring points was obtained and the experiment of robot finger grasping perception was carried out. The simulation results show that the measuring points combination of single finger and multi-finger can reduce the percentage error of force state recognition to less than 10%, and improve the accuracy of the sensor. The performance of the sensor array has been verified by the robot finger grasping sensing experiment.

Keywords

• fiber grating
• robotic finger
• tactile sensor array
• particle swarm algorithm
• optimization of measuring points