By Topic

A comparison of force sensing techniques for planetary manipulation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Helmick, D. ; Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA ; Okon, A. ; DiCicco, M.

Five techniques for sensing forces with a manipulator are compared analytically and experimentally. The techniques compared are: a six-axis wrist force/torque sensor, joint torque sensors, link strain gauges, motor current sensors, and flexibility modeling. The accuracy and repeatability of each technique is quantified and compared. The relative complexity and the impact on flight design of each technique are also compared. The results presented can be used in a trade study for missions requiring manipulator force sensing capabilities

Published in:

Aerospace Conference, 2006 IEEE

Date of Conference:

0-0 0