Evaluation of the robot force sensor structure using singular value decomposition

Masaru Uchiyama, Yoshihiro Nakamura, Kyojiro Hakomori

    Research output: Contribution to journalArticlepeer-review

    14 Citations (Scopus)

    Abstract

    In this paper we discuss the evaluation of the robot force sensor structure. First, we present the framework for understanding the principle of force measurement in the sensor. Next we derive a standard for the evaluation of the force sensor structure, making note of the measurement error in force sensing. In the process of derivation, we use singular value decomposition techniques, which are commonly used in the field of numerical analysis, and clarify the mathematics of the force sensor structure. Finally, we evaluate, analyse, and compare several prototypical force sensors based on the standard derived.

    Original languageEnglish
    Pages (from-to)39-52
    Number of pages14
    JournalAdvanced Robotics
    Volume5
    Issue number1
    DOIs
    Publication statusPublished - 1990 Jan 1

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Human-Computer Interaction
    • Hardware and Architecture
    • Computer Science Applications

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