Optical fiber ribbon-based robot manipulator and its vector state sensing device and method

A state-aware, robotic arm technology that is applied in the direction of measuring devices, optical devices, and manipulators. It can solve the problems of no explanation or report, fixed range of motion of the robotic arm, and no data collected. It achieves no dead ends and reliable The effect of improving performance and solving human safety problems

Active Publication Date: 2022-08-09
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0007] The above existing technologies still have the problems of dead angle of the camera, fixed range of movement of the manipulator, and low precision
[0008] At present, there is no description or report of similar technology to the present invention, and no similar information has been collected at home and abroad

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  • Optical fiber ribbon-based robot manipulator and its vector state sensing device and method
  • Optical fiber ribbon-based robot manipulator and its vector state sensing device and method
  • Optical fiber ribbon-based robot manipulator and its vector state sensing device and method

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Embodiment Construction

[0081] The embodiments of the present invention are described in detail below: This embodiment is implemented on the premise of the technical solution of the present invention, and provides detailed implementation modes and specific operation processes. It should be pointed out that for those skilled in the art, without departing from the concept of the present invention, several modifications and improvements can be made, which all belong to the protection scope of the present invention.

[0082] An embodiment of the present invention provides a vector state flexible sensing device for a robot manipulator based on a multi-core optical fiber ribbon, including: an optical fiber ribbon composed of 5 multi-core optical fibers, 5 fan-in and fan-out modules, 5N circulators, multiple Core fiber Bragg grating, two 5N to 1 switches, Brillouin signal demodulator and data processing platform. Where: N is the number of cores of the multi-core fiber. The 5 fan-in and fan-out modules divi...

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Abstract

The invention provides a vector state sensing device for a robot manipulator based on an optical fiber ribbon, comprising: one end of a multi-core optical fiber in the optical fiber ribbon is respectively connected to a corresponding circulator through a corresponding fan-in and fan-out module, and is respectively connected through the circulator through the circulator. Connect to 5N-to-1 switch A and 5N-to-1 switch B; 5N-to-1 switch A and 5N-to-1 switch B are respectively connected to the Brillouin signal demodulator; the Brillouin signal demodulator is connected to the data processing platform; optical fiber The other ends of the multi-core optical fibers in the ribbon are respectively provided with multi-core fiber Bragg gratings. At the same time, an optical fiber ribbon-based robotic manipulator and a sensing method thereof are provided. The invention utilizes the structure of the multi-core optical fiber ribbon, eliminates the influence of temperature on the sensing information, and improves the precision. At the same time, the present invention does not need to use a camera, and does not have the problem of dead angle caused by the use of a camera in the traditional solution. The above advantages will help the further development of human-machine collaboration.

Description

technical field [0001] The invention relates to optical fiber Brillouin sensing and robot manipulator sensing technology, in particular to a multi-core optical fiber ribbon-based robotic manipulator and a vector state flexible sensing device and sensing method, which are a strain and space state of a robotic manipulator. perception technology. Background technique [0002] With the continuous development of robot technology, people begin to expect to achieve human-robot collaboration to a certain extent, which will inevitably lead to the distance between humans and robots exceeding the safe distance, which increases the risk of humans. The premise of human-machine collaboration becoming a reality is to solve the problem of human safety in the process of collaboration. [0003] The traditional solution is to capture the movements of the robotic arm through a camera, and use an algorithm to control the robotic arm to decelerate before the arm crosses a safe distance. However...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J15/00B25J18/00G01B11/16
CPCB25J18/00B25J15/0009B25J9/16B25J9/1694G01B11/165Y02P90/02
Inventor 李新碗肖芬孙钊
Owner SHANGHAI JIAO TONG UNIV
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