ロボット用力計測センサに関する基礎的研究 : 第4報, 光ファイバを用いたロボット用6軸力センサ

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This paper deals with a new method of sensing force and moment for robotic applications using optical fibers. The six components of force and moment can be measured by microbending phenomena of optical fibers. If forces are applied on anoptical fiber, then microbending decreases the optical transfer efficiency rate so that the magnitude of the force can be given by measuring the output of a photodiode receiver. Based on this methodology, a new method of sensing force and moment using optical fibers is here proposed to measure both stressing and compressing of six components of force and moment with pretention structure. Also, to decrease interference among of six components of force, we propose a lower interference method using calibration matrix ; this method is shown to be effective through some experimental results.
1990-09-25