基于光纤光栅传感器的软体机械臂三维形状检测方法

摘要

为解决软体机械臂形状检测问题,设计了一种基于光纤布拉格光栅传感器的软体机械臂三维形状检测传感网络和方法. 该方法基于分段常曲率-挠率假设,将光纤光栅传感网络的测量值转换为节点的空间位置,从而绘制出软体机械臂的三维形状. 仿真实验结果表明:该方法对于复杂的三维形状有较高的检测精度.%In order to detect the soft manipulator' s shape, a FBGs-based shape detecting method was de-signed, including the distributed sensing network, which has the shape detecting method based on piecewise constant curvature and torsion assumption and the curvature and torsion measured by sensor network trans-formed into the global positions and orientations of nodes so as to draw the three dimensional shape of the softer manipulator.Three dimensional simulations show that the shape detecting method introduced can achieve high accuracy for complex three dimensional shapes.