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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)
Department机器人学研究室
Conference NameIEEE International Conference on Robotics and Biomimetics (ROBIO 2004)
Conference DateAugust 22-26, 2004
Conference PlaceShenyang, China
Author of SourceIEEE 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 PublicationIEEE ROBIO 2004: Proceedings of the IEEE International Conference on Robotics and Biomimetics
PublisherIEEE
Publication PlaceNEW YORK
2004
Pages46-50
Indexed ByEI ; CPCI(ISTP)
EI Accession number2005499531891
WOS IDWOS:000234343000008
Contribution Rank1
ISBN0-7803-8641-8
KeywordStewart Platform Force/torque Sensor Calibration
AbstractIn 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
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8733
Collection机器人学研究室
Affiliation1.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.
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