On the dynamic behavior of a force/torque sensor for robots

In the past yea rs, many kinds of wrist-force sensors have been designed and developed. However, in the development of such sensors, the dynamic behavior of the sensors has rarely been investigated due to the complexity involved. To provide the designers and users of the sensors with insights into the dynamic performance of a designed sensor, we present in this paper the study of the dynamic behavior of the sensor. First of all, the dynamic behavior of typical sensing elements of the sensor is analyzed. Then a dynamic model of a wrist force sensor is developed with the dynamic behavior of the sensor studied taking into account the effects of the end effector of a robot. Some simulation and experiments are carried out to demonstrate the effectiveness of the dynamic model and highlight the effects of the end effector of a robot on the dynamic behavior of the sensor.