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Proceedings Paper

Design of Robot Hand-Based Intelligent Sensor for Measuring Six DOF Force/Torque Information
Author(s): Ren C. Luo; Michael J. Chen
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Paper Abstract

The objective of this paper is to describe the design of a pair of sophisticated robot fingers which enable to sense three axis of forces and three axis of torques information using piezo-resistive strain gauges as sensing elements with frequency output. The fingers may be mounted onto a servo controlled robot gripper and interfaced with robot controller to serve as active compliance device for small parts assembly tasks. This newly direct force/torque sensor with frequency output employing RC oscillation principle has demonstrated great advantages with signal conditioning and processing relative to the conventional voltage output procedures. A description of the test results is also presented.

Paper Details

Date Published: 19 December 1985
PDF: 6 pages
Proc. SPIE 0557, Automatic Inspection and Measurement, (19 December 1985); doi: 10.1117/12.966252
Show Author Affiliations
Ren C. Luo, North Carolina State University (United States)
Michael J. Chen, Machine Intelligence Inc. (United States)

Published in SPIE Proceedings Vol. 0557:
Automatic Inspection and Measurement
Richard A. Brook; Michael J. W. Chen, Editor(s)

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