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Kinematic analysis for a novel design of mri-compatible torque sensor
- In IEEE/RSJ International Conference on Intelligent Robots and Systems
, 2009
"... Abstract-In this paper, the design of a novel MRIcompatible torque sensor is proposed. The sensor is based on an optical measurement, with a particular architecture to provide a very low cross-sensitivity. Its structure allows to simultaneously tune the sensor stiffness and the measurement amplitud ..."
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Abstract-In this paper, the design of a novel MRIcompatible torque sensor is proposed. The sensor is based on an optical measurement, with a particular architecture to provide a very low cross-sensitivity. Its structure allows to simultaneously tune the sensor stiffness and the measurement amplitude of the optical sensor. To do so, kinematic singularities of parallel structures are used as well as the principles of dissociated metrology structure. The design of the sensor is first introduced by a kinematic analysis, before detailing its behavior using Finite Element Analysis. A prototype is finally introduced with first experimental results.
Disturbance Attenuation and Load Decoupling with H 1 Positive Joint Torque Feedback
"... Positive joint torque feedback can compensate the detrimental e ects of load torques on position tracking performance. However, with (real world) non-ideal torque sources, simple unity gain positive torque feedback can actually deteriorate the performance, or even result in instability. An H 1 joint ..."
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Positive joint torque feedback can compensate the detrimental e ects of load torques on position tracking performance. However, with (real world) non-ideal torque sources, simple unity gain positive torque feedback can actually deteriorate the performance, or even result in instability. An H 1 joint torque feedback is proposed which takes the dynamics and uncertainty of the actuator into account and minimizes the system's sensitivity to load torques. In our experimental directdrive system, the H 1 positive torque feedback inner loop drastically improved the disturbance attenuation (25dB) and load decoupling properties of a simple PID position controller. 1
Canadian Space Agency
"... This work describes the design of a new one-axis torque sensor. It achieves the conflicting requirements of high stiffness for all six force and torque components, high sensitivity for the one driving torque of interest, and yet very low sensitivity for the other five force/torque components. These ..."
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This work describes the design of a new one-axis torque sensor. It achieves the conflicting requirements of high stiffness for all six force and torque components, high sensitivity for the one driving torque of interest, and yet very low sensitivity for the other five force/torque components. These properties, combined with its donut shape and small size, make this sensor an ideal choice for direct-drive robotic applications. Experimental data validate the basic design ideas underlying the sensor’s geometry, the finite element model used in its optimization, and the advertised performance. KEY WORDS—torque sensor, robot joint, joint torque control 1.
Highly Dynamical Tasks in Humanoid Robots
, 2007
"... In recent years several humanoid robots capable of mimicking human behaviours have been designed and created. These platforms follow the mainstream ..."
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In recent years several humanoid robots capable of mimicking human behaviours have been designed and created. These platforms follow the mainstream
Disturbance Attenuation and Load Decoupling with H∞ Positive Joint Torque Feedback
, 1998
"... Positive joint torque feedback can compensate the detrimental effects of load torques on position tracking performance. However, with (real world) non-ideal torque sources, simple unity gain positive torque feedback can actually deteriorate the performance, or even result in instability. An H 1 jo ..."
Abstract
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Positive joint torque feedback can compensate the detrimental effects of load torques on position tracking performance. However, with (real world) non-ideal torque sources, simple unity gain positive torque feedback can actually deteriorate the performance, or even result in instability. An H 1 joint torque feedback is proposed which takes the dynamics and uncertainty of the actuator into account and minimizes the system's sensitivity to load torques. In our experimental directdrive system, the H 1 positive torque feedback inner loop drastically improved the disturbance attenuation (25dB) and load decoupling properties of a simple PID position controller.
