Fibre Bragg grating (FBG) sensor system for highly flexible single-link robots

This paper presents a sensor system based on optical fibre sensors (FBG) with which to measure the deflexion of a highly flexible lightweight beam. Epoxy glue is used to attach these optical sensors to specific locations on the surface of the beam in order to measure local strain measurements. These strain measurements, provided by FBG sensors, are used in a method proposed in this paper to estimate the deflection of the beam (the tip position and the tip rotation angle) in both static and dynamic cases. The correct number and the optimum distribution of the sensors on the beam are chosen by using the Chebyshev criterion which minimizes the error in estimating the position and the rotation angle of the tip link. Static and dynamic experiments are presented to verify the effectiveness of the estimation method and the sensor system proposed.

[1]  van der Arjan Schaft,et al.  Proceedings of the 44th IEEE Conference on Decision and Control, and European Control Conference, 2005 , 2005 .

[2]  Akira Mita,et al.  Health monitoring system using FBG-based sensors for a 12-story building with column dampers , 2001, SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring.

[3]  H. Weiss.  Dynamics of Geometrically Nonlinear Rods: I. Mechanical Models and Equations of Motion , 2002 .

[4]  Byoungho Lee,et al.  Review of the present status of optical fiber sensors , 2003 .

[5]  Antonello Cutolo,et al.  Dynamic strain measurements by fibre Bragg grating sensor , 2004 .

[6]  C. May,et al.  Modelling and control of a smart auxiliary mass damper equipped with a bragg grating , 2007, 2007 IEEE/ASME international conference on advanced intelligent mechatronics.

[7]  J. Douglas Faires,et al.  Numerical Analysis , 1981 .

[8]  C. Wang.  Large deflections of an inclined cantilever with an end load , 1981 .

[9]  Vicente Feliu Batlle.  Robots Flexibles: hacia una generación de robots con nuevas prestaciones , 2006 .

[10]  Kuldip S. Rattan,et al.  Adaptive control of a single-link flexible manipulator , 1990 .

[11]  David J. Webb,et al.  Ultrasonic Field and Temperature Sensor Based on Short In-Fibre Bragg Gratings , 1998 .

[12]  Jorge Angeles,et al.  Estimation of the flexural states of a macro-micro manipulator using point-acceleration data , 2005, IEEE Transactions on Robotics.

[13]  R. H. Cannon,et al.  Initial Experiments on the End-Point Control of a Flexible One-Link Robot , 1984 .

[14]  Michael A. Davis,et al.  Fiber grating sensors , 1997 .

[15]  Claudia-Adina Dragos,et al.  Stable and optimal fuzzy control of a laboratory Antilock Braking System , 2010, 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[16]  D Hemphill.  STRUCTURAL HEALTH MONITORING SYSTEM FOR THE EAST 12TH BRIDGE , 2004 .

[17]  Eric Udd,et al.  An overview of fiber‐optic sensors , 1995 .

[18]  Carlos Cerrada,et al.  Load adaptive control of single-link flexible arms based on a new modeling technique , 1999, IEEE Trans. Robotics Autom..

[19]  Gregory R. Scholz,et al.  Profile sensing with an actuated whisker , 2004, IEEE Transactions on Robotics and Automation.

[20]  Seung-Bok Choi,et al.  Control of a single-link flexibe manipulator fabricated form composite laminates , 1995, J. Field Robotics.

[21]  Christopher D. Rahn,et al.  Three-dimensional contact imaging with an actuated whisker , 2006, IEEE Trans. Robotics.

[22]  Vicente Feliú Batlle,et al.  Inverse dynamics based control system for a three-degree-of-freedom flexible arm , 2003, IEEE Trans. Robotics Autom..

[23]  Min Gu,et al.  A flexible-arm as manipulator position and force detection unit , 2003 .

[24]  B. Culshaw,et al.  Acousto-ultrasonic sensing using fiber Bragg gratings , 2003 .

[25]  Sandeep Jain,et al.  Non-Linear Control with End-Point Acceleration Feedback for a Two-Link Flexible Manipulator: Experimental Results , 1992, 1992 American Control Conference.

[26]  H. Weiss,et al.  Dynamics of Geometrically Nonlinear Rods: II. Numerical Methods and Computational Examples , 2002 .

[27]  I. Payo,et al.  Experimental Validation of Nonlinear Dynamic Models for Single-Link Very Flexible Arms , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[28]  C. Neipp,et al.  Large and small deflections of a cantilever beam , 2002 .

[29]  Rajnikant V. Patel,et al.  Nonlinear tip-position tracking control of a flexible-link manipulator: theory and experiments , 2001, Autom..

[30]  C. Padilla,et al.  Design, manufacture, and application to space robotics of distributed piezoelectric film sensors , 1990 .