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Six-dimensional force sensors for robotic applications

# Six-dimensional force sensors for robotic applications

(Summary description)The calibration of a six-dimensional force sensor is performed under the assumption that the sensor system is linear, i.e. the static mathematical model of the sensor satisfies F=CV, where V is the six channels of raw information (column information in V) output from the six-dimensional force sensor and F is the calculated six channels of force information (column information, force in KN and torque in KNm) [6-7].

# Six-dimensional force sensors for robotic applications

(Summary description)The calibration of a six-dimensional force sensor is performed under the assumption that the sensor system is linear, i.e. the static mathematical model of the sensor satisfies F=CV, where V is the six channels of raw information (column information in V) output from the six-dimensional force sensor and F is the calculated six channels of force information (column information, force in KN and torque in KNm) [6-7].

Information

The calibration of a six-dimensional force sensor is performed under the assumption that the sensor system is linear, i.e. the static mathematical model of the sensor satisfies F=CV, where V is the six channels of raw information (column information in V) output from the six-dimensional force sensor and F is the calculated six channels of force information (column information, force in KN and torque in KNm) [6-7].

The essence of the static calibration of a six-dimensional force sensor is to use the generalised force vector set F applied to the six-dimensional force sensor and the six output signal vector sets V obtained from data acquisition and upsampling to derive the calibration matrix C. The output signal of the sensor is a vector consisting of six voltage signals. If the effect of sensor non-linearity is not taken into account, the solution C can be obtained by applying six linearly independent force vectors to the sensor and measuring the six force vectors corresponding to the sensor output voltage signal vector V.

Six-dimensional force sensors are commonly used for mounting on robots. It is well known that robots do not have a sense of touch. In order to give the robot a sense of touch, we need to give the robot a multi-dimensional force sensor, and this is where this six-dimensional force sensor comes into play. Six-dimensional force sensors can accurately measure forces and moments in the X, Y and Z directions, with small offsets and stable performance, giving the robot a "sense of touch" and increasing productivity.

Six dimensional force sensors are widely used in remote control robots, robotic surgery, robot arm research, finger force research, precision assembly, automatic grinding, contour tracking, hand coordination, zero force teaching and other operations, and are widely used in aviation, aerospace and machining, automotive and other industries. If you buy a six-dimensional force sensor, you should choose Changzhou Ruilt, which has high sensitivity, good rigidity, small coupling between dimensions, mechanical overload protection and is suitable for many different scenarios.

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