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Mathematical modeling of a six-axis force/moment sensor
- Issue Date
- Dec-2015
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Keywords
- mathematical modeling; Six-axis force/moment sensor; strain compliance matrix
- Citation
- ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings, pp 1404 - 1409
- Pages
- 6
- Indexed
- SCOPUS
- Journal Title
- ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
- Start Page
- 1404
- End Page
- 1409
- ISSN
- 2093-7121
- Abstract
- In controlling the robot interacting with the external environment, an important role is played by the force/moment sensors. To design a good force sensor, we need to make a good model first. This paper presents a systematic modeling method of one type of force/moment sensor. A model of a previously designed sensor has been built on the basis of static and kinematic equations and a block form of the strain compliance matrix is obtained using the model. ? 2015 Institute of Control, Robotics and Systems - ICROS.
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