面向机器人触力觉感知的磁场解析与仿真
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桂美将,周小虎,谢晓亮,刘市祺,李浩,王晋利,侯增广
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Analysis and simulation of magnetic field for robot tactile perception
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Mei-jiang GUI,Xiao-hu ZHOU,Xiao-liang XIE,Shi-qi LIU,Hao LI,Jin-li WANG,Zeng-guang HOU
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表 3 2种方法在不同形变情形下的计算时间 |
Tab.3 Computation time of two methods under different deformations |
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$ d/ $mm | $T_{\rm{num} }/{{\rm{s}}}$ | ${ {T} }_{ { {\rm{o} } }{ {\rm{u} } }{ {\rm{r} } } }/{{\rm{s}}}$ | N=16 | N=32 | N=48 | N=64 | N=80 | N=96 | N=112 | N=128 | N=144 | 0.10 | 13 | 21 | 34 | 51 | 73 | 109 | 150 | 186 | 242 | 0.00303 | 0.20 | 11 | 20 | 34 | 52 | 72 | 107 | 147 | 182 | 245 | 0.00097 | 0.30 | 15 | 22 | 38 | 50 | 78 | 110 | 154 | 175 | 236 | 0.00107 | 0.40 | 14 | 23 | 39 | 50 | 76 | 105 | 148 | 173 | 245 | 0.00080 | 0.50 | 13 | 22 | 33 | 50 | 74 | 106 | 146 | 184 | 247 | 0.00281 | 0.60 | 14 | 21 | 37 | 51 | 74 | 113 | 149 | 182 | 249 | 0.00047 | 0.70 | 13 | 23 | 39 | 52 | 74 | 112 | 146 | 180 | 246 | 0.00040 | 0.80 | 11 | 20 | 35 | 49 | 75 | 106 | 146 | 186 | 241 | 0.00040 | 0.90 | 14 | 21 | 39 | 49 | 74 | 114 | 148 | 185 | 253 | 0.00040 | 1.00 | 11 | 21 | 38 | 51 | 78 | 104 | 144 | 185 | 247 | 0.00040 | 1.10 | 15 | 22 | 39 | 53 | 75 | 107 | 140 | 182 | 231 | 0.00038 | 1.20 | 13 | 22 | 33 | 52 | 75 | 104 | 142 | 185 | 246 | 0.00037 | 1.30 | 15 | 17 | 39 | 52 | 77 | 97 | 145 | 186 | 251 | 0.00037 | 1.40 | 13 | 20 | 34 | 51 | 75 | 101 | 143 | 177 | 232 | 0.00045 | 1.50 | 10 | 21 | 34 | 51 | 77 | 108 | 150 | 185 | 240 | 0.00044 |
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