Title

Dynamic Contact Force Estimation and Control Integrating Tactile Sensor Based on Fiber Bragg Grating and Series Elastic Actuator

DGIST Authors

Hyunbin Na ; Sehoon Oh ; Jaehueng Park

Advisor

오세훈

Co-Advisor(s)

Jaehueng Park

Issued Date

2022

Awarded Date

2022/08

Citation

Hyunbin Na. (2022). Dynamic Contact Force Estimation and Control Integrating Tactile Sensor Based on Fiber Bragg Grating and Series Elastic Actuator. doi: 10.22677/thesis.200000631284

Type

Thesis

Subject

Force observer, Series Elastic Actuator, Tactile Sensor, Fiber Bragg Grating, Sensor fusion

Description

Force observer, Series Elastic Actuator, Tactile Sensor, Fiber Bragg Grating, Sensor fusion

Abstract

더보기

Table Of Contents

I.Introduction 1
II.Integration of FBG-based Tactile Sensor and SEA-driven Robot Link 5
2.1 Force Measurement using FBG-based Tactile Sensor 5
2.2 Neural Network Learning using FBG Measurement Data to Estimate Contact Location and Force 8
2.3 Analysis of Dynamics on the Integrated Robot Link 11
III.Design of the Force Observer To Integrate Measurements of the FBG sensor and SEA 13
IV.Experimental Verification of the Proposed Integrated Force Sensing Algorithm 16
4.1 Estimation of the contact force and location by the FBG Sensor 17
4.2 Force Observation under Static Conditions 19
4.3 Force Observation under Dynamic Conditions 23
4.4 Force observation with various frequency 24
V.Conclusion 26
References 27

URI

http://dgist.dcollection.net/common/orgView/200000631284
http://hdl.handle.net/20.500.11750/16808

DOI

10.22677/thesis.200000631284

Degree

Master

Department

Department of Robotics and Mechatronics Engineering

Publisher

DGIST

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