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

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...

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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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