TitleOptimal Design of Dynamic Multiaxis Force/Torque Sensors
Publication TypeConference Paper
Year of Publication1999
Conference NameProc. IEEE Int. Conference on Decision and Control
Publication Languageeng
AuthorsBicchi, A, Caiti, A, Prattichizzo, D
AbstractThe 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 part