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The output of a six-axis force/torque sensor (F/T sensor) not only varies with force or torque but also is affected by ambient temperature. In order to check the effects of temperature drift on the measurement precision of the sensor, this paper carried out experiments to obtain the quantitative results without loading the force and torque. In detail, three methods, including the least square method,...
The traditional six-dimensional force/torque sensor calibration method requires a lot of precision loading force and can only be off-line calibration. In this paper, to solve the problem, an online calibration and decoupling method based on the shape from motion combined with complex algorithm is proposed. It does not require accurate and redundant loading force information, and have better noise...
This paper proposes the design and development of an integrated serial elastic actuator (SEA) which is used as the elbow joint in the soft humanoid arm. First, requirements of SEA are illustrated. And six different types of elastic elements (e.g. the discoid element, the cylindrical) are analyzed using the design of experiment (DOE) method. And then, a discoid elastic element with larger flexibility...
Not only output of the six-dimension force/torque sensor changes with force or torque, but also be susceptible to ambient temperature, thus limiting measurement accuracy of the sensor. In order to overcome the above drawbacks of six-dimension force/torque sensor, this paper proposes a temperature compensation method based on Radial Basis Function (RBF) Neural Network. Compared with the conventional...
This paper presents a novel six-axis force/torque sensor based on strain gauges. Firstly, the six-axis force/torque sensor's design criterion is systematically expounded by calibration matrix, condition number, coupling error, sensor accuracy, strain gauge sensitivity, sensor sensitivity and sensor stiffness. Secondly, a novel sensing element is designed and simulated by finite element method. Then,...
A highly integrated joint controller using in a humanoid robot arm has been developed in the paper. The joint controller is highly integrated with position sensors — the hall sensors, the magnetic sensor and the photoelectrical sensor, the torque sensors, the temperature sensor and so on. Besides, it can control and drive the motor in PWM and SVPWM modes. What is more, the joint controller has been...
Six-axis force/torque sensor plays an important role in many fields. A novel six-axis force/torque sensor based on strain gauge was designed and optimized with design of experiments (DOE) approach and response surface methodology. In order to reduce the errors bonding strain gauges, we adopted strain distribution analysis to acquire the accurately positions. The strain compliance matrix was attained...
In this paper, an improved algorithm to measure Chinapsilas EMU spacesuit joint damping parameters for the old passive robot system is presented. The measuring principle is based on robot kinematics and dynamics. Firstly, a kinematic model of the passive robot and the EMU spacesuitpsilas arm is built according to the special mechanical structure. Secondly, improved methods of solving the inverse kinematics...
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