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Proceedings Paper

Parameter optimization of robotic multidimensional force sensors
Author(s): Youlun Xiong
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Paper Abstract

The Fisher's information matrix M is introduced for the design and calibration of robot's multidimensional force sensors. The parameter optimization is based on the standard performance index J = - lgdetM with relevant constraints. The corresponding optimality conditions should be met by the structure parameter of the force sensors in order to maximize the information content of the data. It is proved that the isotropic sensors arc maximally informative. Finally, the matching principle of the sensor's structure with its tasks is presented based on the information matrix.

Paper Details

Date Published: 22 September 1993
PDF: 6 pages
Proc. SPIE 2101, Measurement Technology and Intelligent Instruments, (22 September 1993); doi: 10.1117/12.156350
Show Author Affiliations
Youlun Xiong, Huazhong Univ. of Science and Technology (China)


Published in SPIE Proceedings Vol. 2101:
Measurement Technology and Intelligent Instruments
Li Zhu, Editor(s)

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