International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Performance Improvement of a 6-Axis Force-torque Sensor via Novel Electronics and Cross-shaped Double-hole Structure

  • Kang Chul-Goo (Dept. of Mechanical Engineering, Konkuk University)
  • Published : 2005.09.01
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Abstract

Performance of a force-torque sensor is affected significantly by an error signal that is included in the sensor signal. The error sources may be classified mainly into two categories: one is a structural error due to inaccuracy of sensor body, and the other is a noise signal existing in sensed information. This paper presents a principle of 6-axis force-torque sensor briefly, a double-hole structure to be able to improve a structural error, and then a signal conditioning to reduce the effect of a noise signal. The validity of the proposed method is investigated through experimental study, which shows that SIN ratio is improved significantly in our experimental setup, and the sensor can be implemented cheaply with reasonable performance.

Keywords

References

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