| Abstract: | A compliant F/T sensor which combines passive compliance and active sensing is proposed in thes paper to provide flexible utility. The paper describes the sensor's mechanical design, measuring theory and kinematic equations which are set up in the RPY (roll-pitch-yaw) mode.The sensor'S poSe vector can be acquired if the position signals from the PSDS are known, and vice versa. The formula between force vector and pose vector is built so that the force/ torque can be acquired after the stiffness matrix is calibrated. |
