Fibre Optic Shape Sensing Sensing for Robotics

用于机器人的光纤形状传感

• 批准号: 2784669
• 金额: --
• 依托单位: CRANFIELD UNIVERSITY
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2021
• 资助国家: 英国
• 起止时间: 2021 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-2784669
• 关键词: Fibre; Optic; Shape; Sensing; Robotics

This project will focus on the development, construction and testing of fibre optic shape sensing instrumentation in the form of a sensing 'tape' that can be integrated into a robotic arm structure to provide high-quality measurement of joint angles and arm position/shape. Such a sensing approach will have a wide range of applications: In industrial robotic arms, the proposed sensor will offer higher-resolution and higher-bandwidth measurements of joint angles/robot pose offering improved performance and new techniques in robotic manufacturing. For example, higher measurement bandwidth will enable new approaches to vibration correction leading to higher quality and productivity. In automation, the sensors could be applied as a retrofittable upgrade to improve the performance of low cost industrial arms and enable the automation of articulated joints used in heavy construction vehicles.

该项目将专注于光纤形状传感仪器的开发，建造和测试，其形式为传感“带”，可以集成到机器人手臂结构中，以提供关节角度和手臂位置/形状的高质量测量。这种传感方法将具有广泛的应用：在工业机器人手臂中，所提出的传感器将提供关节角度/机器人姿势的更高分辨率和更高带宽的测量，从而在机器人制造中提供更好的性能和新技术。例如，更高的测量带宽将使振动校正的新方法成为可能，从而提高质量和生产率。在自动化方面，传感器可以作为可改造的升级，以提高低成本工业臂的性能，并实现重型工程车辆中使用的铰接接头的自动化。