机械手软抓取的采样信号控制精度研究  

Control accuracy of sampling signal of manipulator's soft grasp

作　　者：胡兰子[1] 陈进军[1] 

机构地区：[1]贵州大学电气工程学院,贵州贵阳550002

出　　处：《计算机时代》2012年第8期7-9,共3页Computer Era

基　　金：基于振动状态识别技术的机器手触滑觉传感研究

摘　　要：在机械手的设计中,下位机硬件电路的设计对采样信号的控制精度起着至关重要的作用。为此,在满足采样定理的条件下,针对信号采样频率对采样信号的精度影响,对带有噪声信号的正弦信号在不同采样频率下恢复信号与原信号的误差、不同强度的噪声在不同采样频率下恢复信号与原信号的误差、不同初相位的不同采样频率下的恢复信号与原信号的误差情况进行了MATLAB仿真分析。该实验结果为硬件电路的设计奠定了坚实的基础。The design of hardware circuit plays an important role in the control accuracy of sampling signal of manipulator’s soft grasp.When sampling theorem is satisfied,the control of sampling frequency affects the precision of sampling signal in the procedure of sampling.The errors between recovery signal and original signal under sinusoidal signal with noise in the different sampling frequencies,different power,and different initial phases are analyzed by simulation technology of MATLAB.The experimental result lays a solid foundation for the design of hardware circuits.

关 键 词：采样定理 采样频率 噪声 MATLAB 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]