| Identification of parameters for a Stewart platform-based force/torque sensor | |
Wang HG(王洪光) ; Zhao MY(赵明扬); Fang LJ(房立金); Zhang B(张波); Xu ZG(徐志刚)
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| Department | 机器人学研究室 |
| Conference Name | IEEE International Conference on Robotics and Biomimetics (ROBIO 2004) |
| Conference Date | August 22-26, 2004 |
| Conference Place | Shenyang, China |
| Author of Source | IEEE Robot & Automat Soc, IEEE HK RA CS Joint Chapter, Chinese Acad Sci, Shenyang Inst Automat, Chinese High tech Dev Program, Robot Soc Japan, Japan Soc Mech Engineers, Int Rescue Syst Inst, Shenyang Hunnan New Urban Area, Shenyang New & High tech Ind Dev Zone |
| Source Publication | IEEE ROBIO 2004: Proceedings of the IEEE International Conference on Robotics and Biomimetics |
| Publisher | IEEE |
| Publication Place | NEW YORK |
| 2004 | |
| Pages | 46-50 |
| Indexed By | EI ; CPCI（ISTP） |
| EI Accession number | 2005499531891 |
| WOS ID | WOS:000234343000008 |
| Contribution Rank | 1 |
| ISBN | 0-7803-8641-8 |
| Keyword | Stewart Platform Force/torque Sensor Calibration |
| Abstract | In this paper, the mechanical configuration and the principle of the measurement for a Stewart platform-based multi-component force/torque sensor is introduced. A novel calibration method for geometric parameters is presented, which is to connect a fixed base to the top platform using one link in turn and measure the poses of the top platform. According to the poses measured on the coordinate measuring machine (CMM), the geometric parameters of the multi-component force/torque sensor can be calculated separately. The inverse and forward kinematic model have been formulated to optimize the geometric parameters and compute the resulting forces of the multi-component force/torque sensor. Several experiments have been carried out and the results prove that the calibration method is correct and valid. |
| Language | 英语 |
| Citation statistics | |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/8733 |
| Collection | 机器人学研究室 |
| Affiliation | 1.Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.Graduate School, Chinese Academy of Sciences, 100039, China |
| Recommended Citation GB/T 7714 | Wang HG,Zhao MY,Fang LJ,et al. Identification of parameters for a Stewart platform-based force/torque sensor[C]//IEEE Robot & Automat Soc, IEEE HK RA CS Joint Chapter, Chinese Acad Sci, Shenyang Inst Automat, Chinese High tech Dev Program, Robot Soc Japan, Japan Soc Mech Engineers, Int Rescue Syst Inst, Shenyang Hunnan New Urban Area, Shenyang New & High tech Ind Dev Zone. NEW YORK:IEEE,2004:46-50. |
| Files in This Item: | Download All | |||||
| File Name/Size | DocType | Version | Access | License | ||
| HYQW000645.pdf（4483KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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