Modeling and Evaluation of Low-Cost Force Sensors

被引：62
|
作者：
Lebosse, C. [1 ]
Renaud, P. [2 ]
Bayle, B. [2 ]
de Mathelin, M. [2 ]
机构：
[1] Luxscan Technol, L-4384 Ehlerange, Luxembourg
[2] Strasbourg Univ, Ctr Natl Rech Sci, Lab Sci Image Informat & Teledetect, F-67412 Illkirch Graffenstaden, France
来源：
IEEE TRANSACTIONS ON ROBOTICS | 2011年 / 27卷 / 04期
关键词：
Force control; nonlinear modeling; piezoresistive sensors; CONTACT;
D O I：
10.1109/TRO.2011.2119850
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Low-cost piezoresistive sensors can be of great interest in robotic applications due not only to their advantageous cost but to their dimension as well, which enables an advanced mechanical integration. In this paper, a comparison of two commercial piezoresistive sensors based on different technologies is performed in the case of a medical robotics application. The existence of significant nonlinearities in their dynamic behavior is demonstrated, and a nonlinear modeling is proposed. A compensation scheme is developed for the sensor with the largest nonlinearities before discussing the selection of a sensor for dynamic applications. It is shown that force control is achievable with these kinds of sensors, in spite of their drawbacks. Experiments with both types of sensors are presented, including force control with a medical robot.
引用
收藏
页码：815 / 822
页数：9
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