Title :
On the dynamic behavior of a force/torque sensor for robots
Author :
Li, Y.F. ; Chen, X.B.
Author_Institution :
Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, Kowloon, Hong Kong
fDate :
2/1/1998 12:00:00 AM
Abstract :
In the past years, many kinds of wrist-force sensors have been designed and developed. However, in the development of such sensors, the dynamic behavior of the sensors has rarely been investigated due to the complexity involved. To provide the designers and users of the sensors with insights into the dynamic performance of a designed sensor, we present in this paper the study of the dynamic behavior of the sensor. First of all, the dynamic behavior of typical sensing elements of the sensor is analyzed. Then a dynamic model of a wrist force sensor is developed with the dynamic behavior of the sensor studied taking into account the effects of the end effector of a robot. Some simulation and experiments are carried out to demonstrate the effectiveness of the dynamic model and highlight the effects of the end effector of a robot on the dynamic behavior of the sensor
Keywords :
dynamic response; force control; force feedback; force sensors; frequency response; industrial manipulators; manipulator dynamics; modelling; torque measurement; Newton-Euler formulation; dynamic behavior; dynamic model; end effector effects; force control; force/torque sensor; frequency response; impact response; robot arm; robot sensor; wrist force sensor; End effectors; Force control; Force measurement; Force sensors; Load modeling; Robot sensing systems; Sensor phenomena and characterization; Service robots; Torque; Wrist;
Journal_Title :
Instrumentation and Measurement, IEEE Transactions on
