面向机器人触力觉感知的磁场解析与仿真

桂美将,周小虎,谢晓亮,刘市祺,李浩,王晋利,侯增广

Analysis and simulation of magnetic field for robot tactile perception

Mei-jiang GUI,Xiao-hu ZHOU,Xiao-liang XIE,Shi-qi LIU,Hao LI,Jin-li WANG,Zeng-guang HOU

表 4 不同形变量下的拟合结果与评价指标

Tab.4 Fitting results and evaluation metrics under different deformations

$ d $/mm $ b $ $ l $ $ k $ $ {R}^{2} $ ${R}_{{\rm{A}}}^{2}$ RMSE 0.10 553.70 −62.61 0.91 0.9961 0.9947 0.3239 0.20 554.82 −55.22 0.92 0.9986 0.9981 0.1967 0.30 557.26 −54.40 0.92 0.9949 0.9932 0.3719 0.40 560.65 −52.01 0.92 0.9952 0.9936 0.3653 0.50 564.73 −55.48 0.92 0.9978 0.9971 0.2460 0.60 571.26 −43.54 0.93 0.9998 0.9998 0.0715 0.70 580.07 −58.07 0.92 0.9978 0.997 0.2537 0.80 589.70 −61.77 0.91 0.9979 0.9972 0.2494 0.90 602.70 −70.88 0.91 0.9920 0.9893 0.5094 1.00 617.94 −59.11 0.92 0.9969 0.9958 0.3274 1.10 636.13 −62.45 0.92 0.9975 0.9967 0.2957 1.20 657.70 −63.26 0.92 0.9968 0.9957 0.3468 1.30 683.55 −67.03 0.92 0.9987 0.9983 0.2298 1.40 713.03 −69.82 0.92 0.9963 0.9951 0.4088 1.50 747.84 −72.55 0.92 0.9969 0.9959 0.3893