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- Title
Dynamic Compensation for Two-Axis Robot Wrist Force Sensors.
- Authors
Junqing Ma; Aiguo Song; Dongcheng Pan
- Abstract
To improve the dynamic characteristic of two-axis force sensors, a dynamic compensation method is proposed. The two-axis force sensor system is assumed to be a first-order system. The operation frequency of the system is expanded by a digital filter with backward difference network. To filter high-frequency noises, a low-pass filter is added after the dynamic compensation network. To avoid overcompensation, parameters of the proposed dynamic compensation method are defined by trial and error. Step response methods are utilized in dynamic calibration experiments. Compared to experiment data without compensation, the response time of the dynamic compensated data is reduced by 30%~40%. Experiments results demonstrate the effectiveness of our method.
- Subjects
ROBOT wrists; TACTILE sensors; SIGNAL-to-noise ratio; PARAMETER estimation; DATA analysis
- Publication
Journal of Sensors, 2013, p1
- ISSN
1687-725X
- Publication type
Article
- DOI
10.1155/2013/357396