Research on Characteristics of Fiber Optic Sensors for Anthropomorphous Robots

Structure, operating principle, theoretical provisions, experimental characteristics of fiber optic sensors for control of a bending in phalanxes of the anthropomorphous robot fingers, as well as principle of compensation for cross impact of adjacent measuring channels are considered. Linearization algorithm of positional characteristic of a sensor is given. The use of compensation algorithms of the cross impact and the linearization of the positional characteristic of sensing element offered to reduce nonlinearity of the sensor positional characteristic to 1% and to reduce the cross impact of different measuring channels to minus 20 dB, which is confirmed by experimental studies. Results of the experimental studies revealed that even without application of special temperature correction methods, the sensors used possess sufficiently high stability. Their phalanx temperature coefficient does not exceed 0,08%/°C. Assessment of high-speed performance of system, taking into account computing opportunities of the electronic transceiver is carried out. Technical characteristics of sensor prototypes and the electronic transceiver of fiber optical system are given.