Real-time measurement, visualization and analysis of movements by fiber optical sensory applied to robotics

Abstract

This paper gives an overview of a new developed hardware and software framework for fiber-optical constructional sensory applied to industrial domains. Different sensors types are shown and used together on an robotic arm. The sensory bases on fiber-optical ribbons. For example some sensors are used to enhance the gripper with tactile sensing or provide movement data of the robot joints. Furthermore they are adopted to sense the rotation angle of the robot base. Different sensors will be discussed in detail. After presenting the different sensors the overall system is shown beginning with real-time measurement, processing and calibration, visualization and analysis of the movements. The control loop is closed to the actuators of the robot. The software suite which puts all parts together will be outlined afterwards.