Title :
A piezoelectric force/force-derivative sensor for robotic applications
Author :
Pandian, S.R. ; Okuda, T. ; Mitani, Y. ; Kurahashi, K. ; Kawamura, S.
Author_Institution :
Ritsumeikan Univ., Kusatsu, Japan
Abstract :
A shear-type piezoelectric sensor is used for sensing both force and force derivative signals. Compared to a conventional multilayer-type piezoelectric cell, it has advantages of simple structure, low drive voltage and light weight. The proposed sensor is used for contact force control of an one-degree of freedom robot manipulator, and the effectiveness of force derivative feedback control is demonstrated through experimental results. A comparison is made with results obtained using strain gauge force sensor
Keywords :
feedback; force control; piezoelectric transducers; robots; sensors; strain gauges; contact force control; feedback; force-derivative sensor; impact control; piezoelectric force sensor; robot manipulator; strain gauge; Biosensors; Capacitive sensors; Costs; Educational institutions; Force control; Force feedback; Force measurement; Force sensors; Orbital robotics; Robot sensing systems;
Conference_Titel :
SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers
Conference_Location :
Hokkaido
Print_ISBN :
0-7803-2781-0
DOI :
10.1109/SICE.1995.526646
