A piezoelectric force/force-derivative sensor for robotic applications
- Resource Type
- Conference
- Authors
- Pandian, S.R.; Okuda, T.; Mitani, Y.; Kurahashi, K.; Kawamura, S.
- Source
- SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers SICE '95 SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers. :1147-1150 1995
- Subject
- Robotics and Control Systems
Signal Processing and Analysis
Aerospace
Force sensors
Robot sensing systems
Force control
Force measurement
Capacitive sensors
Force feedback
Biosensors
Orbital robotics
Costs
Educational institutions
- Language
A shear-type piezoelectric sensor is used for sensing both force and force derivative signals. Compared to a conventional multilayer-type piezoelectric cell, it has advantages of simple structure, low drive voltage and light weight. The proposed sensor is used for contact force control of an one-degree of freedom robot manipulator, and the effectiveness of force derivative feedback control is demonstrated through experimental results. A comparison is made with results obtained using strain gauge force sensor.