Fibre Optic Shape Sensing Sensing for Robotics

该项目将专注于光纤形状传感仪器的开发、建造和测试，这种传感“磁带”形式可以集成到机器人手臂结构中，以提供高质量的关节角度和手臂位置/形状测量。这种传感方法将有广泛的应用：在工业机械臂中，提出的传感器将提供更高分辨率和更高带宽的关节角度/机器人姿态测量，为机器人制造提供改进的性能和新技术。例如，更高的测量带宽将实现振动校正的新方法，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装的升级应用，以提高低成本工业臂的性能，并使重型工程车辆中使用的铰接接头实现自动化。

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.