Method for sensing large-deformation space pose of flexible body

Abstract

The invention relates to a method for sensing a large-deformation space pose of a flexible body. The method comprises the following steps of: step 1, arranging three first fiber gratings on the outerperipheral surface of a flexible carrier along a spiral line, connecting two ends of the flexible carrier with a moving end and a fixed end of a to-be-detected flexible body respectively, enabling thethree first fiber gratings to distribute on the same section of the flexible carrier uniformly along the circumference of the section, dividing the flexible carrier into a plurality of sections, andsetting a grid point at each section of the first fiber gratings; step 2, calculating tensile strain, a deflection angle, curvature and a bending angle of each section of the flexible carrier; step 3,substituting the deflection angle, the curvature and the bending angle obtained in the step 2 into a rotation transformation matrix and a translation transformation matrix, acquiring a transformationmatrix between a flexible carrier fixed end coordinate system and a flexible carrier moving end coordinate system according to the rotation transformation matrix and the translation transformation matrix, and acquiring space coordinates of the moving end center and an Euler angle of the moving end surface of the flexible carrier. The sensing method is accurate, efficient and sensitive in response.

Description

technical field [0001] The invention relates to the technical field of sensors, in particular to a method for sensing the large deformation space pose of a flexible body. Background technique [0002] The statements herein merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] The flexible body has the characteristics of multiple degrees of freedom and large deformation, and can realize operations such as bending, twisting, extending, and contacting. The premise of the motion control and operation planning of the flexible body is that the space pose and mechanical characteristics of the flexible body are known, and then various motion operations of the flexible body are controlled in a closed loop. Due to the lack of suitable flexible body sensing equipment, most flexible body robots adopt open-loop control, or control based on the PID method. The path tracking control of visual feedback cannot detect th...

AI Technical Summary

Problems solved by technology

Due to the lack of suitable flexible body sensing equipment, most flexible body robots adopt open-loop control, or control based on the PID method. The path tracking control of visual feedback cannot detect the deformation rules inside the flexible body, and cannot achieve high-precision detection. When the vision is limited, visual feedback tracking cannot complete the detection task.

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