Measuring Limitation Analysis of Six-Axis Wrist Force Sensor Based on Screw Theory

Abstract:

When robot do contact operation task to unknown environment, it often need wrist force sensor to check contact force information between robot and environment then judge the contact state, and check the information feedback to control system for completing operation smoothly. This paper analyze the measure theory of robot end wrist six-axis force sensor based on screw theory, propose and verify the limitation of six-axis wrist force sensor for measuring the six-dimensional force online.

• Periodical: Applied Mechanics and Materials (Volumes 635-637)
• Pages: 678-681
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.635-637.678
• Online since: September 2014
• Authors: Zhi Jun Wang*, Wan Yu Liu, Jing He, Li Zhan Xian, Yong Sheng Zhao
• Keywords: Force Screw, Measuring Limitation, Screw Theory, Six-Axis Wrist Force Sensor

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