DocumentCode
3493171
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
fYear
1995
fDate
26-28 Jul 1995
Firstpage
1147
Lastpage
1150
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;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers
Conference_Location
Hokkaido
Print_ISBN
0-7803-2781-0
Type
conf
DOI
10.1109/SICE.1995.526646
Filename
526646
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