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The effect of wrist force sensor stiffness on the control of robot manipulators

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3 Author(s)
R. Roberts ; Purdue University ; R. Paul ; B. Hillberry

This paper analyzes the effects of the mechanical stiffness of end effector force sensors on the control of robot manipulators. Modeling of the general manipulator-sensor system is presented, along with a detailed investigation of a single joint case. Analytical and experimental results indicate that the use of a mechanically compliant sensor permits a more responsive force controlled system to be realized. In addition, an active compensator for sensor deflections was developed to recover the static positional stiffness of the manipulator.

Published in:

Robotics and Automation. Proceedings. 1985 IEEE International Conference on  (Volume:2 )

Date of Conference:

Mar 1985