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

Volume

47

Issue

1

fYear

1998

fDate

2/1/1998 12:00:00 AM

Firstpage

304

Lastpage

308

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;

fLanguage

English

Journal_Title

Instrumentation and Measurement, IEEE Transactions on

Publisher

ieee

ISSN

0018-9456

Type

jour

DOI

10.1109/19.728839

Filename

728839