The effect of wrist force sensor stiffness on the control of robot manipulators

This paper analyzes the effects of the mechanical stiffness of end effector force sensors on the control of robot manipulators. Modeling of the general manipulator-sensor system is presented, along with a detailed investigation of a single joint case. Analytical and experimental results indicate that the use of a mechanically compliant sensor permits a more responsive force controlled system to be realized. In addition, an active compensator for sensor deflections was developed to recover the static positional stiffness of the manipulator.