Vibration control of a multi-link flexible robot arm with Fiber-Bragg-Grating sensors

Franke, René; Malzahn, Jörn; Nierobisch, Thomas; Hoffmann, Frank; Bertram, Torsten

doi:10.1109/robot.2009.5152297

Cited by 10 publications

(3 citation statements)

References 11 publications

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“…for MLP angle . Robotic finger embedded with five FBGs sensors showed 0.15 N resolution in force sensing, 10 while our proposal presented a much simpler and cheaper method for dexterous robot fingertip force sensing. Moreover, limiting the force application angle to [0, 180] deg.…”

Section: Resultsmentioning

confidence: 89%

“…Additionally, the continuous growth in the telecommunication market has led to a great offer of optical components at good cost-benefit and an increase in the number of suppliers, favoring the optical fiber sensing technology. 6 In robotics, fiber Bragg gratings (FBGs) have been employed in three-dimensional force-sensing, 7 continuum manipulators force-sensing, 8,9 and vibration control 10 ; FBGs were also embedded in robotic fingers to measure and identify the location of forces, 11 and long-period fiber gratings (LPG) have been used in electrical current measurement for quadcopter motors. 12 As one can see, optical fiber sensors based on fiber gratings are widely used in the field of robotics.…”

Section: Introductionmentioning

confidence: 99%

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Two‐dimensional long‐period fiber grating sensor for touch applications

Barino

Ébias

Bittencourt

et al. 2020

Micro & Optical Tech Letters

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In this study we present a two-dimensional force sensor based on a single long-period fiber grating (LPG) to be applied to robotic manipulators grasping control. The measuring force is applied to the fiber transverse section and this lateral compression induces birefringence on the fiber, which splits the LPG resonant dip into two. We track these dips using polarized controlled light and process the LPG spectra using artificial neural networks to determine the force intensity and direction. Finally, our single sensor proposal for 2D forces measurement can estimate an applied force with 0.2148 N and 5.977 deg. error.

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Section: Resultsmentioning

confidence: 89%

Section: Introductionmentioning

confidence: 99%

Two‐dimensional long‐period fiber grating sensor for touch applications

Barino

Ébias

Bittencourt

et al. 2020

Micro & Optical Tech Letters

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“…The FBG sensors are also used in the closedloop control of a multi-link FLM. 139 Commercial accelerometers may be considered as a precise instrument to evaluate the vibration levels in the FLMs. The elastic robot, ElRob, 17,33,140 was developed to a new version, Ella, 141 arming the system with accelerometers.…”

Section: Experimental Studies and The Hardwarementioning

confidence: 99%

Review of modelling and control of flexible-link manipulators

Sayahkarajy

Mohamed

Faudzi

2016

Proceedings of the Institution of Mechanical Engineers, Part I:

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In recent decades, flexible manipulators have been studied by many researchers from robotics, solid mechanics, and control fields. Flexible manipulators have many advantages, including low weight because of the slenderness of the links of the robot. Although the original objective was to take advantages of the slenderness or flexibility in real robots, the challenging dynamics of the systems intrigued interests to employ an experimental flexible manipulator as a test bed to evaluate different modelling or control methods. With such a vast and various literatures, a review is indispensable for researchers who want to adapt their interests with the area. Some valuable review articles have been published, referencing numerous articles on single-link or multi-link flexible arms. This article pays an inclusive focus on trends of the research on modelling and control of multi-link flexible-link manipulators. The scope of this review article is particularly on two-link flexible manipulators, relevant models presented for closed-loop applications, and model-based control. Recent and historical contributions in the modelling and control of flexible-link manipulators are presented and discussed. As regular industrial manipulators normally have multiple links with two long links, that is, upper arm and forearm, this review can introduce advances in considering elasticity effects to robotic researchers.

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