Force sensing for advanced robot control |
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| Affiliation: | 1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China;2. Department of Mechanical Engineering, Lassonde School of Engineering, York University, 4700 Keele Street, Toronto ON M3J 1P3, Canada;1. School of Mechanical Engineering, North China University of Water Resources and Electric Power, Zhengzhou 450045, China;2. Department of Mechanical Engineering, Lassonde School of Engineering, York University, 4700 Keele Street, Toronto, ON M3J 1P3, Canada;3. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China |
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| Abstract: | Although several force sensing devices have been developed recently, industrial applications of these devices are rarely found. This is in severe contradiction to the growing success of vision systems. In many application domains however, tactile perception may be as important as vision. This paper discusses the design aspects of multi-degree of freedom force sensors. Some well-proven mechanical concepts developed at K.U. Leuven are presented. Further, the consequences of using force feedback upon the robot control structure will be discussed. |
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