Dynamic Contact Force Estimation and Control Integrating Tactile Sensor Based on Fiber Bragg Grating and Series Elastic Actuator
- Title
- Dynamic Contact Force Estimation and Control Integrating Tactile Sensor Based on Fiber Bragg Grating and Series Elastic Actuator
- Author(s)
- Hyunbin Na
- DGIST Authors
- Hyunbin Na ; Sehoon Oh ; Jaehueng Park
- Advisor
- 오세훈
- Co-Advisor(s)
- Jaehueng Park
- Issued Date
- 2022
- Awarded Date
- 2022/08
- Type
- Thesis
- Description
- Force observer, Series Elastic Actuator, Tactile Sensor, Fiber Bragg Grating, Sensor fusion
- Abstract
- Table Of Contents
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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
- Degree
- Master
- Publisher
- DGIST
- Related Researcher
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Oh, Sehoon
- Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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- Appears in Collections:
- Department of Robotics and Mechatronics Engineering Theses Master
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