用于机器人应用的压电力/力导数传感器

SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers Pub Date : 1995-07-26 DOI:10.1109/SICE.1995.526646

S. Pandian, T. Okuda, Y. Mitani, K. Kurahashi, S. Kawamura

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引用次数: 2

摘要

采用剪切式压电传感器对力和力的导数信号进行传感。与传统的多层压电电池相比，具有结构简单、驱动电压低、重量轻等优点。将该传感器应用于一自由度机器人的接触力控制，并通过实验结果验证了力导数反馈控制的有效性。并与应变式力传感器的测量结果进行了比较。

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A piezoelectric force/force-derivative sensor for robotic applications

A shear-type piezoelectric sensor is used for sensing both force and force derivative signals. Compared to a conventional multilayer-type piezoelectric cell, it has advantages of simple structure, low drive voltage and light weight. The proposed sensor is used for contact force control of an one-degree of freedom robot manipulator, and the effectiveness of force derivative feedback control is demonstrated through experimental results. A comparison is made with results obtained using strain gauge force sensor.

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SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers

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