Dynamic decoupling and compensating methods of multi-axis force sensors

Author

Xu, Ke-Jun ; Li, Cheng

Author_Institution

Inst. of Autom., Hefei Univ. of Technol., China

Volume

49

Issue

5

fYear

2000

fDate

10/1/2000 12:00:00 AM

Firstpage

935

Lastpage

941

Abstract

Dynamic decoupling and compensating methods of multi-axis force sensors are proposed to solve simultaneously the dynamic coupling between axes and the slow dynamic response which are the two key problems in dynamic characterizing of the multi-axis force sensors and improve their dynamic quality. Four types of dynamic decoupling and compensating networks are shown, the design equations and procedures are presented, and the parameters of the networks are determined using a method based on a functional link artificial neural network (FLANN). The dynamic decoupling and compensating results for a wrist force sensor have proved the methods to be correct and effective

Keywords

compensation; dynamic response; electronic design automation; force sensors; matrix algebra; neural nets; compensation; design equations; dynamic decoupling; dynamic quality; dynamic response; functional link artificial neural network; multi-axis force sensors; wrist force sensor; Artificial neural networks; Biosensors; Force measurement; Force sensors; Robot sensing systems; Robotic assembly; Robotics and automation; Strain measurement; Torque; Wrist;

fLanguage

English

Journal_Title

Instrumentation and Measurement, IEEE Transactions on

Publisher

ieee

ISSN

0018-9456

Type

jour

DOI

10.1109/19.872911

Filename

872911