A piezoelectric force/force-derivative sensor for robotic applications

摘要

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.