A comparison of force sensing techniques for planetary manipulation

Helmick, Daniel; Okon, Avi; DiCicco, Matt

A comparison of force sensing techniques for planetary manipulation

Helmick, Daniel; Okon, Avi; DiCicco, Matt

URI: http://hdl.handle.net/2014/38550

Date: 2006-03

Keywords: force sensing; manipulation; robotics; planetary exploration

Publisher: Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2006.

Citation: 2006 IEEE Aerospace Conference, Big Sky, MT, March 2006

Abstract:

Five techniques for sensing forces with a manipulator are compared analytically and experimentally. The techniques compared are: a six-axis wrist force/torque sensor, joint torque sensors, link strain gauges, motor current sensors, and flexibility modeling. The accuracy and repeatability fo each technique is quantified and compared.

Show full item record