Modeling Analysis of a Six-axis Force/Tactile Sensor for Robot Fingers and a Method for Decreasing Error
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概要
- 論文の詳細を見る
This paper describes a six-axis force/tactile sensor for robot fingers. A mathematical model of this sensor is proposed. By this model, the grasping force and its moments, and touching position of robot finger for holding an object can be calculated. A new sensor is fabricated based on this model, where the elastic sensing unit of the sensor is made of a brazen plate. A new compensating method for decreasing error is proposed. Furthermore, the performance of this sensor is examined. The test results present approximate relationship between theoretical input and output of the sensor. It is obvious that the performance of the new sensor is better than the sensor with no compensation.
- 社団法人 電気学会の論文
- 2005-08-01
著者
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Zhang Feifei
Tokyo University Of Marine Science And Technology
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Shimizu Etsuro
Tokyo University Of Marine Science And Technology
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LUO Minghua
Tokyo University of Marine Science and Technology
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ITO Masanori
Tokyo University of Marine Science and Technology
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Ito Masanori
Tokyo Univ. Of Marine Science And Technology
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Shimizu Etsuro
Tokyo Univ. Of Marine Sci. And Technol.
関連論文
- Modeling Analysis of a Six-axis Force/Tactile Sensor for Robot Fingers and a Method for Decreasing Error
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