基于振动信号的地面在线分类方法分析word论文.docx

Abstract
With mobile robots being applied more and more widely, there is a demand that the ability of robots to perceive the environment being higher. plicated ground is usually externalized by the geometric parameters and the physical parameters. Recently, the majority research of unknown environment is focused on the geometric parameters which represent environmental structural parameters like ground obstacles. However, with the using of the robots more widely, the physical parameters’ online-identification and real-time modeling which affect robots’ continuous survival and self-sustaining is ing hot spot of the research. Targeted the vibration signal’s characteristics of tracked robots’ running process, in this article, the online classification which using the vibration signal of the terrain is established.
For the vibration signal’plex of tracked robot, analyze the resource of vibration and the main factors that affect the local oscillator through the simulation of robot’s ADAMS model. Firstly, establish the simulation model of tracked robot. Then, based on the result of simulation, analyze the affect of tracked robot’s speed and different terrain types. In the end, the major source of track vibration and vibration’s characteristics are analyzed, this process provide theoretical reference and validation standards for the real extracted of robot’s vibration.
With the results of signal’s characteristics and influencing factors of the result, the acquisition of vibration signal platform is established, the signal’s processing procedures and the collection interface are designed, and scheme acquisition of vibration signal is proposed, the preprocessing of vibration signal and the extracted methods of time and frequency domain. Based on this, the impact of feature extraction is analyzed the time domain and frequency domain characteristics pared, the extraction of the four terrain samples pleted, characteristics of the vibration signal analysis pleted.
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