A microcomputer-based intelligent sensor for multiaxis force/torquemeasurement
Luo, R.C.
Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Feb 1988
Volume: 35,
Issue: 1
On page(s): 26-30
ISSN: 0278-0046
References Cited: 16
CODEN: ITIED6
INSPEC Accession Number: 3130949
Digital Object Identifier: 10.1109/41.3059
Current Version Published: 2002-08-06
Abstract
The author describes the design and implementation of a pair of
sophisticated robot fingers that enable the sensing of information from
three axes of force and three axes of torque using piezoresistive strain
gauges as sensing elements with conversion to frequency as the output.
The fingers may be mounted on a servo-controlled robot gripper and
interfaced with a robot controller to serve as an active compliance
device for small-part assembly tasks. This force/torque sensor with
frequency output using an RC oscillation principle has
demonstrated great advantages in signal conditioning and processing
relative to conventional voltage output techniques. The design of
robotic fingers and multiaxis force/torque sensors with signal
conditioning/processing, and data acquisition with a microprocessor
system are described. A description of the test results is also
presented
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