01188nas a2200145   4500008004100000245006100041210006000102300001400162520069600176653001200872100001500884700001300899700002000912856011000932       1999                        eng d00aOptimal Design of Dynamic Multiaxis Force/Torque Sensors0 aOptimal Design of Dynamic Multiaxis ForceTorque Sensors  a2981-29863 aThe measurement of time-varying forces and torques applied to flexible mechanical structures cannot be pursued by relying on quasi-static approximations. However, the problem can be cast as a problem of dynamic system inversion, provided reliable models of the dynamic relationship among forces, torques and measurement gauges are available. Within this framework it is possible, in particular, to define optimality criteria for gauge placements in order to guide the design of such dynamic force/torque sensing devices. Experimental results show that the approach proposed is indeed capable of reconstructing forces, torques and point of contact applied to a flexible beam with a rigid part10aSensors1 aBicchi, A.1 aCaiti, A1 aPrattichizzo, D  uhttps://www.centropiaggio.unipi.it/publications/optimal-design-dynamic-multiaxis-forcetorque-sensors.html01085nas a2200157   4500008004100000245005800041210005500099260002200154300001200176520057100188653001200759100001500771700001300786700002000799856010800819       1997                        eng d00aDynamic force/torque sensors: theory and experiments 0 aDynamic forcetorque sensors theory and experiments  aMonterey, CA, USA  a727-7323 a<p>Although present-day force/torque (F/T) sensors are mostly designed and used as if they were quasi-static devices, if significant compliance and/or stringent requirements on measurements bandwidth are in order, a dynamic analysis of such sensors is necessary. In this paper we consider the optimal (in a worst-case sense) design of F/T sensors, based on distributed-parameter models of its compliance, and algorithms that can be used to obtain F/T measurements in real time with high bandwidth. Theoretical expectations are confirmed by experimental results</p>
10aSensors1 aBicchi, A.1 aCaiti, A1 aPrattichizzo, D  uhttps://www.centropiaggio.unipi.it/publications/dynamic-forcetorque-sensors-theory-and-experiments.html