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