期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 21, 期 6, 页码 2977-2982出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2016.2606491
关键词
Fiber Bragg grating (FBG); shape detection; soft robot manipulator
类别
资金
- Natural Science Foundation of China [61473191, 61503245, 61221003, 61673272]
- Science and Technology Commission of Shanghai Municipality [15111104802]
- State Key Laboratory of Robotics and System
The shape of soft a manipulator cannot be sensed by the operator directly, when applied to rescue of mine disaster, science exploration, or minimally invasive surgery due to the narrow and closed environment. Shape information is sometimes important for the soft manipulator to be controlled. In order to deal with the problem of shape sensing, a shape sensing algorithm and sensor network based on Fiber Bragg Gratings (FBGs) are introduced in this paper. The shape sensing algorithm is based on piecewise constant curvature and torsion assumption, and can translate the curvature and torsion measured by sensor network into global positions and orientations of nodes. Three-dimensional experiments show that the algorithm introduced in this paper can achieve high accuracy for 3-D shapes.
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