Abstract
In this paper, we propose an improved shape reconstruction method based on FBG sensors. Two optical fibers with five uniformly distributed FBG sensors are bonded on a rod, and the curvature of each measuring point can be measured. The relationship between curvature and the rod arc length is obtained by cubic spline interpolation and partial linear interpolation. The rod is differentiated into sufficiently small constant curvature arcs, then the shape of the rod is reconstructed by means of integration. A fourth-order Bezier curve is used as a virtual bending rod to verify the proposed method. Experiments are conducted to reconstruct the shape of actual bending rod. Simulation and experiment results show that the proposed method has higher shape reconstruction accuracy in most cases.
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Hou, L., Tam, S., Zhao, X., Tao, B. (2022). Shape Reconstruction Method for Continuum Robot Using FBG Sensors. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13457. Springer, Cham. https://doi.org/10.1007/978-3-031-13835-5_35
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DOI: https://doi.org/10.1007/978-3-031-13835-5_35
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