Dynamic force/torque sensors: theory and experiments

Author

Bicchi, A. ; Caiti, A. ; Prattichizzo, D.

Author_Institution

Dipartimento di Sistemi Elettrici ed Autom., Pisa Univ., Italy

fYear

1997

fDate

7-9 Jul 1997

Firstpage

727

Lastpage

732

Abstract

Although present-day force/torque (F/T) sensors are mostly designed and used as if they were quasi-static devices, if significant compliance and/or stringent requirements on measurements bandwidth are in order, a dynamic analysis of such sensors is necessary. In this paper we consider the optimal (in a worst-case sense) design of F/T sensors, based on distributed-parameter models of its compliance, and algorithms that can be used to obtain F/T measurements in real time with high bandwidth. Theoretical expectations are confirmed by experimental results

Keywords

differential equations; distributed parameter systems; dynamics; flexible structures; strain gauges; vibration measurement; differential equation; distributed-parameter models; dynamic analysis; flexible beam; force sensors; real time systems; strain gauge; torque sensors; vibration measurement; Bandwidth; Capacitive sensors; Force measurement; Force sensors; Mechanical sensors; Mechanical variables measurement; Robot sensing systems; Strain measurement; Torque measurement; Vibrations;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-4160-0

Type

conf

DOI

10.1109/ICAR.1997.620262

Filename

620262