面向连续体机器人精密操作的多芯光纤三维形状与位置测量误差研究

doi:10.3901/JME.2024.03.068

机械工程学报 ›› 2024, Vol. 60 ›› Issue (3): 68-82.doi: 10.3901/JME.2024.03.068

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面向连续体机器人精密操作的多芯光纤三维形状与位置测量误差研究

孙广开^1,2, 张兴硕^1,2, 何彦霖^1,2, 周康鹏^1,3, 祝连庆^1,2

1. 北京信息科技大学光电测试技术及仪器教育部重点实验室北京 100192;
2. 北京信息科技大学光纤传感与系统北京实验室北京 100016;
3. 天津大学精密仪器与光电子工程学院天津 300072

收稿日期:2023-03-30 修回日期:2023-08-21 出版日期:2024-02-05 发布日期:2024-04-28
通讯作者: 祝连庆,男,1963年出生,博士,教授,博士研究生导师。主要研究方向为生物医学检测技术及仪器、光纤传感与光电器件、光电与视觉检测。E-mail:zhulianqing@sina.com
作者简介:孙广开,男, 1984 年出生,副教授,博士研究生导师。主要研究方向为手术机器人光纤导航、软体机器人感知、飞行器全寿命健康监测。E-mail:guangkai.sun@buaa.edu.cn
基金资助:
国家自然科学基金(61903041)和北京市科技新星计划(Z191100001119052)资助项目。

Measurement Error of 3D Shape and Position of Multi-core Optical Fiber for Precision Operation of Continuum Robots

SUN Guangkai^1,2, ZHANG Xingshuo^1,2, HE Yanlin^1,2, ZHOU Kangpeng^1,3, ZHU Lianqing^1,2

1. Key Laboratory of the Ministry of Education for Optoelectronic Measurement Technology and Instrument, Beijing Information Science & Technology University, Beijing 100192;
2. Beijing Laboratory of Optical Fiber Sensing and System, Beijing Information Science & Technology University, Beijing 100016;
3. School of Precision Instrument and Opto-electronics Engineering, Tianjin University, Tianjin 300072

Received:2023-03-30 Revised:2023-08-21 Online:2024-02-05 Published:2024-04-28

摘要/Abstract

摘要： 针对复杂封闭空间精密操作中连续体机器人三维形状与位置高精度测量问题,提出基于多芯光纤形变传感方程与三维形状重构算法的误差分析及校正方法。基于多芯光纤传感结构特征和三维空间几何变换原理,推演建立了多芯光纤三维形状与位置测量的关键方程和算法。采用关键模型算法驱动方法,系统性地分析了传感光纤关键参数误差、信号解调误差、传感方程与重构算法误差、环境温度变化等对测量精度的影响,确定了主要误差源及其定量影响程度。通过误差溯源,建立了测量系统关键参数标定与误差校正方法。构建了七芯光纤测量实验装置,实验验证了方法有效性。研究结果表明,所提方法可实现系统测量误差溯源、定量分析与校正,有效提高多芯光纤三维形状与位置测量精度,在连续体机器人精密测量领域具有应用价值与前景。

关键词: 连续体机器人, 精密测量, 多芯光纤传感器, 三维形状测量, 误差分析

Abstract: Aiming at the problem of high-precision measurement of 3D shape and position of continuum robot when it operates precisely in a complex enclosed space, an error analysis and correction method based on multi-core optical fiber deformation sensing equation and 3D shape reconstruction algorithm is proposed. Based on the structural characteristics of multi-core optical fiber sensing and the principle of 3D spatial geometric transformation, the key equations and algorithms for 3D shape and position measurement of multi-core optical fiber are deduced and established. Using the key model and algorithm-driven method, the influence of key parameter error of the multi-core fiber, signal demodulation error, sensing equation and reconstruction algorithm error, and ambient temperature change on the measurement accuracy is systematically analyzed, and the main error sources and their quantitative influence degrees are determined. Through error traceability, the calibration and error correction methods of key parameters of the measurement system are established. A seven-core optical fiber measurement experimental device is constructed, and the effectiveness of the method is verified by experiments. The results show that the proposed method can realize the traceability, quantitative analysis and correction of systematic measurement error, effectively improve the 3D shape and position measurement accuracy of multi-core optical fiber sensing system, and have application value and prospect in the field of precision measurement of continuum robots.

Key words: continuum robot, precision measurement, multi-core optical fiber sensor, 3D shape measurement, error analysis

中图分类号:

TG156

孙广开, 张兴硕, 何彦霖, 周康鹏, 祝连庆. 面向连续体机器人精密操作的多芯光纤三维形状与位置测量误差研究[J]. 机械工程学报, 2024, 60(3): 68-82.

SUN Guangkai, ZHANG Xingshuo, HE Yanlin, ZHOU Kangpeng, ZHU Lianqing. Measurement Error of 3D Shape and Position of Multi-core Optical Fiber for Precision Operation of Continuum Robots[J]. Journal of Mechanical Engineering, 2024, 60(3): 68-82.

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面向连续体机器人精密操作的多芯光纤三维形状与位置测量误差研究

Measurement Error of 3D Shape and Position of Multi-core Optical Fiber for Precision Operation of Continuum Robots

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