Evaluation of the robot force sensor structure using singular value decomposition

摘要

In this paper we discuss the evaluation of the robot force sensor structure. First, we present the framework for understanding the principle of force measurement in the sensor. Next we derive a standard for the evaluation of the force sensor structure, making note of the measurement error in force sensing. In the process of derivation, we use singular value decomposition techniques, which are commonly used in the field of numerical analysis, and clarify the mathematics of the force sensor structure. Finally, we evaluate, analyse, and compare several prototypical force sensors based on the standard derived.