Force and Optical Position Sensors: Limitations of Sensors and Sensing Systems in Robotic Applications

摘要

Sensory feedback as an element of intelligent control, and force sensing and visual sensing within a hierarchical sensor-controller system are discussed. A six-component force sensor designed and developed in CIMAR laboratories is the main issue of this paper. Its single beam mechanical structure is described and signal processing and conditioning circuitry is explained. Basic limitations of force measurement using strain gages are studied and related design criteria suggested. The second part of the paper deals with different optical distance measurement techniques, and concentrates on the conceptual designs of two innovative methods which utilize triangulation, laser interferometry, and pulse width modulated light beams. Some basic limitation analysis and a tentative work plan are also included in this part of the paper. (ERA citation 09:031381)