Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Signal Processing and Performance of a Six-Axis Force-Torque Sensor Using Strain Gauges

스트레인게이지 응용 6축 힘-토크 센서의 신호처리와 성능

  • Published : 2001.02.01
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Abstract

The importance of sensing the force and torque with arbitrary direction and magnitude is becoming more crucial for robotic applications and manufacturing automations. Recently, several designs of a multi-axis force-torque sensor have been tried to sense this force and torque. This paper deals mainly with the signal processing of a six-axis force-torque sensor using cross-shaped elastic structures with circular holes. In this paper, we show principle of sensing force and torque, the signal processing methodology, and efficient methods of seeking strain gage positions in the sensor structure. The validity of the proposed method is shown via experiments.

Keywords

References

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