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.

A., B., A., C., Prattichizzo, D. (1997). Dynamic Force/Torque Sensors: Theory and Experiment. In Proceedings 8th International Conference on Advanced Robotics 1997, ICAR'97 (pp.727-732). IEEE [10.1109/ICAR.1997.620262].

Dynamic Force/Torque Sensors: Theory and Experiment

PRATTICHIZZO, DOMENICO
1997-01-01

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.
1997
0780341600
A., B., A., C., Prattichizzo, D. (1997). Dynamic Force/Torque Sensors: Theory and Experiment. In Proceedings 8th International Conference on Advanced Robotics 1997, ICAR'97 (pp.727-732). IEEE [10.1109/ICAR.1997.620262].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11365/30473
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