Abstract
This paper describes the design of a six-axis force/torque sensor, the purpose of which is to provide decoupled and accurate F/T information for the closed-loop control of the manipulator system. Firstly, the manipulator system and the adopted measuring principle are introduced. Then, a novel static component based on dual annulus diaphragms is presented. At last, the calibration and decoupling test based on Neural Network (NN) is carried out. The results of calibration test show superiority of the structure of the elastic component of the developed sensor and the improvement of the calibration method.
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Liang, QK. et al. (2010). Design of a Novel Six-Dimensional Force/Torque Sensor and Its Calibration Based on NN. In: Huang, DS., Zhao, Z., Bevilacqua, V., Figueroa, J.C. (eds) Advanced Intelligent Computing Theories and Applications. ICIC 2010. Lecture Notes in Computer Science, vol 6215. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14922-1_1
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DOI: https://doi.org/10.1007/978-3-642-14922-1_1
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-14921-4
Online ISBN: 978-3-642-14922-1
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