Optimal Geometric Structures of Force/Torque Sensors

M. M. Svinin, M. Uchiyama

    研究成果: Article査読

    42 被引用数 (Scopus)

    抄録

    In controlling manipulators interacting with the external en vironment, an important role is played by the force/torque sensors. In recent years, a number of constructs for such sen sors have been proposed, and some criteria for their evaluation have been introduced. This article presents a systematic analy sis of force sensors at the design stage, which has not been undertaken in the literature. A generalized model of the sensors is developed on the basis of static and kinematic equations, and a block form of the resulting strain compliance matrix of the sensor is obtained. The model developed is then applied to the analysis of two- and three-dimensional sensor schemes cor responding to regular polygons and polyhedrons, respectively. The condition number of the normalized strain compliance matrix of the sensor is used as a performance index. The im possibility of reaching the optimal values of this criterion is stated for the regular polygon form-based sensors. Partial solutions of the optimization problem are found out for the reg ular polyhedron form—based sensors. The presentation of the material is illustrated by analytical examples.

    本文言語English
    ページ(範囲)560-573
    ページ数14
    ジャーナルThe International Journal of Robotics Research
    14
    6
    DOI
    出版ステータスPublished - 1995 12月

    ASJC Scopus subject areas

    • ソフトウェア
    • モデリングとシミュレーション
    • 機械工学
    • 人工知能
    • 電子工学および電気工学
    • 応用数学

    フィンガープリント

    「Optimal Geometric Structures of Force/Torque Sensors」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

    引用スタイル