Measuring Limitation Analysis of Six-Axis Wrist Force Sensor Based on Screw Theory

When robot do contact operation task to unknown environment, it often need wrist force sensor to check contact force information between robot and environment then judge the contact state, and check the information feedback to control system for completing operation smoothly. This paper analyze the...

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Bibliographic Details
Published inApplied Mechanics and Materials Vol. 635-637; pp. 678 - 681
Main Authors Liu, Wan Yu, He, Jing, Wang, Zhi Jun, Zhao, Yong Sheng, Xian, Li Zhan
Format Journal Article
LanguageEnglish
Published Zurich Trans Tech Publications Ltd 01.09.2014
Subjects
Screw Theory
Force Screw
Measuring Limitation
Six-Axis Wrist Force Sensor
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Summary:When robot do contact operation task to unknown environment, it often need wrist force sensor to check contact force information between robot and environment then judge the contact state, and check the information feedback to control system for completing operation smoothly. This paper analyze the measure theory of robot end wrist six-axis force sensor based on screw theory, propose and verify the limitation of six-axis wrist force sensor for measuring the six-dimensional force online.
Bibliography:Selected, peer reviewed papers from the 4th International Conference on Advanced Design and Manufacturing Engineering (ADME 2014), July 26-27, 2014, Hangzhou, China
ISBN:3038352578
9783038352570
ISSN:1660-9336
1662-7482
1662-7482
DOI:10.4028/www.scientific.net/AMM.635-637.678