A Comprehensive Design of Six-Axis Force/Moment Sensor

Ahmad, Anton Royanto; Wynn, Terrence; Lin, Chyi‐Yeu

doi:10.3390/s21134498

Cited by 17 publications

(7 citation statements)

References 26 publications

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“…The efficiency of these sensors has a direct effect on force control performance. High accuracy (resolution, sensitivity, linearity), reliability, and the capability to get rid of interference are the critical research factors of force/torque sensors employed in intelligent robotics [41], [42]. For this purpose, numerous force/torque sensor modules have been designed and developed so far by research scholars over the years [43]-FIGURE 3.…”

Section: A Ati Force-torque Sensormentioning

confidence: 99%

Real-Time Robot Pose Correction on Curved Surface Employing 6-Axis Force/Torque Sensor

et al. 2022

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Research on robot trajectory correction on a curved surface has seen a surge in the last two decades to deal with issues in many machining processes. Due to the intricacies involved in complex machining, the real-time correction of robot end-effector position and orientation is highly challenging. The existing approaches are either computationally expensive or inadequate for high accuracy in desired trajectory tracking. Hence, this research explores and implements a novel sophisticated approach, barring minor complications, to empower industrial robots to adjust poses in real-time automatically. In contrast with other studies, the proposed technique does not require any prior geometric information of the workpiece, such as a CAD model or a 3D scan. Our proposed technique relies solely on force/torque sensor feedback information obtained from a 6-axis force/torque sensor installed at the end-effector. When the developed tool comes in contact with the curved surface, the force sensor transmits the data to the pose correction algorithm. The pose correction algorithm estimates the adjustment required to make the tool normal to the surface. The effectiveness and feasibility of the proposed scheme were validated through numerous experiments carried out with a 6-DOF industrial robot. The final results of the curved surface trajectory correction demonstrates that the contact-based robot pose correction has significantly improved. The estimated average error on depth (Z-axis), and angles (Rx,Ry) are 0.7 mm, 0.7 • , and 0.9 • , respectively.

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Section: A Ati Force-torque Sensormentioning

confidence: 99%

Real-Time Robot Pose Correction on Curved Surface Employing 6-Axis Force/Torque Sensor

et al. 2022

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“…Actually, this is not true because transducer outputs interact with one another, and cross-talk sensitivities may be important. In first analysis, each force and moment component Fk (k=1, 6) can be expressed as a linear combination of the MCFMT outputs di (i=1, 6) with second-order interactions ignored, as shown in equation (2) e equation (3) (2)…”

Section: Evaluation Of the Exploitation And Sensitivity Matricesmentioning

confidence: 99%

“…The demand of multicomponent force and moment transducers (MCFMTs) has hugely increased in the last decades. Such devices are typically used in the field of automating industrial plants, through, for example, the use of anthropomorphic robots or robot cells [1][2][3], in civil and aerospace engineering for wind tunnel balances [4,5], and in quality * Author to whom any correspondence should be addressed. and production engineering for machine operations and applications [6,7].…”

Section: Introductionmentioning

confidence: 99%

Calibration of multicomponent force and moment transducers using uniaxial force standard machines integrated with tilted plates

Prato¹,

Borgiattino²,

Facello³

et al. 2022

Meas. Sci. Technol.

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Traceability of multicomponent force and moment transducers is a metrological priority as stated within the document of future strategy 2017 to 2027 of the Consultative Committee of Mass and Related Quantities of BIPM. In this paper, a calibration system using force standard machines integrated with tilted plates is described. The main advantage of this method is the possibility to apply force and moment components using existing uniaxial force standard machines without the necessity to modify them or to develop specific ones. On the other hand, force and moment components cannot be fully independently applied. Expanded uncertainties of the applied side forces and moments are in the order of around 5 %, acceptable for several industrial applications. A procedure for the calibration and the uncertainty assessment of multicomponent force and moment transducers is also provided. Calibration results, in terms of main and cross-talk sensitivities, of a six-components transducer are shown. This method is easily implementable and can be adopted to improve the current standard.

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“…Strain gauges have the advantages of small size, high sensitivity, and simple measurement process, and have been widely used in the field of force detection [12]. Therefore, strain gauges were also taken as the force detection elements in this study.…”

Section: Layout Of Force Detection Elementsmentioning

confidence: 99%

Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot

Shi

Zhang

Mei

et al. 2021

Sensors

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Robot-assisted minimally invasive surgery (MIS) has received increasing attention, both in the academic field and clinical operation. Master/slave control is the most widely adopted manipulation mode for surgical robots. Thus, sensing the force of the surgical instruments located at the end of the slave manipulator through the main manipulator is critical to the operation. This study mainly addressed the force detection of the surgical instrument and force feedback control of the serial surgical robotic arm. A measurement device was developed to record the tool end force from the slave manipulator. An elastic element with an orthogonal beam structure was designed to sense the strain induced by force interactions. The relationship between the acting force and the output voltage was obtained through experiment, and the three-dimensional force output was decomposed using an extreme learning machine algorithm while considering the nonlinearity. The control of the force from the slave manipulator end was achieved. An impedance control strategy was adopted to restrict the force interaction amplitude. Modeling, simulation, and experimental verification were completed on the serial robotic manipulator platform along with virtual control in the MATLAB/Simulink software environment. The experimental results show that the measured force from the slave manipulator can provide feedback for impedance control with a delay of 0.15 s.

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A Comprehensive Design of Six-Axis Force/Moment Sensor

Cited by 17 publications

References 26 publications

Real-Time Robot Pose Correction on Curved Surface Employing 6-Axis Force/Torque Sensor

Real-Time Robot Pose Correction on Curved Surface Employing 6-Axis Force/Torque Sensor

Calibration of multicomponent force and moment transducers using uniaxial force standard machines integrated with tilted plates

Realization of Force Detection and Feedback Control for Slave Manipulator of Master/Slave Surgical Robot

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