Measurement Crosstalk Elimination of Torque Encoder Using Selectively Compliant Suspension
Realization of rigid and sensitive torque sensor is one of the key factors for the success of robots. With the conventional detectors as strain gauges, poor S/N (signal to noise) ratio has been the limitation of torque sensor sensitivity. Torque Encoder uses a linear encoder as a detector and significantly enhanced the S/N ratio, and realized stiff and sensitive torque sensor. However, the crosstalk in torque measurement was still an open problem as in other sensing methods. In this paper, we analyzed the cause of the crosstalk and proposed the mechanism to suppress the crosstalk using selectively compliant suspension mechanism. Design methodology, implementation to minimize crosstalk with minimal sensitivity loss are presented. Evaluation on a prototype of the mechanism is carried out to show the effectiveness of the mechanism.
Hiroshi Kaminaga Kohei Odanaka Tomohiro Kawakami Yoshihiko Nakamura
Graduate School of Information Science and Technology,The University of Tokyo,7-3-1 Hongo,Bunkyo-Ku,Tokyo,Japan
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4774-4779
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）