- Qiao-Kang Liang20,21,
- Quan-Jun Song20,
- Dan Zhang22,
- Yun-Jian Ge20,
- Guang-Bin Zhang20,21,
- Hui-Bin Cao20 &
- …
- Yu Ge20
Part of the book series:Lecture Notes in Computer Science ((LNTCS,volume 6215))
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Abstract
This paper describes the design of a six-axis force/torque sensor, the purpose of which is to provide decoupled and accurate F/T information for the closed-loop control of the manipulator system. Firstly, the manipulator system and the adopted measuring principle are introduced. Then, a novel static component based on dual annulus diaphragms is presented. At last, the calibration and decoupling test based on Neural Network (NN) is carried out. The results of calibration test show superiority of the structure of the elastic component of the developed sensor and the improvement of the calibration method.
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Authors and Affiliations
Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, Anhui, P.R. China
Qiao-Kang Liang, Quan-Jun Song, Yun-Jian Ge, Guang-Bin Zhang, Hui-Bin Cao & Yu Ge
University of Science and Technology of China, Hefei, Anhui, P.R. China
Qiao-Kang Liang & Guang-Bin Zhang
Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, Oshawa, ON, L1H 7K4, Canada
Dan Zhang
- Qiao-Kang Liang
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- Hui-Bin Cao
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- Yu Ge
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Editors and Affiliations
Intelligent Computing Laboratory, Chinese Academy of Sciences, P.O. Box 1130, 230031, Hefei, Anhui, China
De-Shuang Huang
Department of Biomedical Informatics, Vanderbilt University Medical Center, 2,525 West End Avenue, Suite 600, 37203, Nashville, TN, USA
Zhongming Zhao
Electrical and Electronics Department, Polytechnic of Bari, Via Orabona 4, 70125, Bari, Italy
Vitoantonio Bevilacqua
Faculty of Engineering, District University Francisco José de Caldas, Cra. 7a,No. 40-53, Fifth Floor, Bogotá, Colombia
Juan Carlos Figueroa
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Liang, QK.et al. (2010). Design of a Novel Six-Dimensional Force/Torque Sensor and Its Calibration Based on NN. In: Huang, DS., Zhao, Z., Bevilacqua, V., Figueroa, J.C. (eds) Advanced Intelligent Computing Theories and Applications. ICIC 2010. Lecture Notes in Computer Science, vol 6215. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14922-1_1
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