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.
Bicchi, A., Caiti, A., 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 D.
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.
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https://hdl.handle.net/11365/30473
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