Development of Distributed Optical Torque Sensors for Realization of Local Impedance Control of the Robot Arm
نویسندگان
چکیده
This paper describes the recent development of optical torque sensor in order to replace expensive strain gauge sensor attached at the tip of the anthropomorphic robot arm and realize local impedance control in each joint. Different shapes of mechanical structure of sensor as well as optical measurement approaches are given. The results of calculation of stress and tangential displacement using Finite Element Method and experimental results of research are presented. The concept of local impedance control of joints of humanoid robot arm is considered.
منابع مشابه
Design and use of distributed optical torque sensors for humanoid arm
This paper describes the recent development of optical torque sensor in order to replace expensive strain gauge sensor attached at the tip of the anthropomorphic robot arm and realize local impedance control in each joint. Different shapes of mechanical structure of sensor as well as optical measurement approaches are given. The results of calculation of stress and tangential displacement using...
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