Comparison of 3D Shape Reconstruction Methods for Fiber-Optic Sensors

Conference: ISR 2018 - 50th International Symposium on Robotics
06/20/2018 - 06/21/2016 at München, Germany

Proceedings: ISR 2018

Pages: 7Language: englishTyp: PDF

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Riehs, Christopher (Graduate School of Excellence advanced Manufacturing Engineering, Stuttgart, Germany)
Kleiner, Bernhard; Schneider, Urs (Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Stuttgart, Germany)
Verl, Alexander (Institute for Control Engineering of Machine Tools and Manufacturing Units, University of Stuttgart, Germany)

A comparison of two methods for the 3D shape reconstruction of a new kind of fiber-optic sensor using Fiber Bragg Gratings (FBG) is presented. The sensors, developed at the Fraunhofer Heinrich-Hertz-Institute, consists of FBGs written in the cladding of a standard 125 mm fiber. In this way, simple and cost efficient bending sensors can be produced. Shape reconstruction strategies using a single fiber, that was actively moved along an path, which shape was reconstructed, and with a fiber, that was resting, were investigated. The achievable accuracy of both methods was compared with an experimental setup.