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History of Robotics Research and Development of Japan1987SensingEvaluation of the Robot Force Sensor Structure Using Singular Value Decomposition

Masaru UchiyamaTohoku University
Yoshihiro NakamuraTohoku University
Kyojiro HakomoriTohoku University
A force sensor, generally, measures force and moment through measurement of strains on a elastic structural body that are caused by force and moment applied to the body. Therefore, for design of a force sensor, design of the elastic structural body should be an important factor. Also, in the design, measurement precision should be taken into account. This paper focuses on performance evaluation of the sensor structural body, with noting the measurement precision. First, the measurement principle in the force sensor is considered. Then, a framework to understand the principle is given. That is, the relation between applied force and moment and strains on the sensor structural body is represented in a linear form by a force-strain transformation matrix. The process of calculation of the force and moment through the measurement of strains is formulated as a process of calculation of the inverse of the force-strain transformation matrix. Next, based on this framework, noting the measurement error of the force and moment in the sensor, a performance index for the sensor structural body is derived. In this derivation, singular value decomposition technique in the field of numerical analysis is exploited to analyze the characteristics of the sensor structural body. It is shown that the condition number of the force-strain transformation matrix can be a performance index for the sensor. This index evaluates the sensor structural body from the view point that the calculation error coming from the measurement error of the strains should be as small as possible. This is an important index for the design of the force sensor and for the improvement of the sensor performance. In the paper, several prototypes of the force sensor are evaluated, analyzed, and compared with each other using this index, and the usefulness of the index is verified. The related papers [1] and [2] are listed. The paper [1] presents a design procedure for a force sensor using this performance index, in which finite element method analysis and calibration experiment are combined systematically. In the calibration experiment, a systematic data processing based on matrix operation, is presented. In the related paper [2], a general kinematic model of the sensor structural body is proposed and optimization of the sensor structure using the parameters of this model is discussed. 2nd RSJ Best Paper Award in 1988.

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Correspondence papers

Masaru Uchiyama, Yoshihiro Nakamura, and Kyojiro Hakomori：Evaluation of Robot Force Sensor Structure Using Singural Value Decompsition

Journal of the RSJ, Vol. 5, No. 1, pp. 4-10, 1987 (in Japanese).

Masaru Uchiyama, Yoshihiro Nakamura, and Kyojiro Hakomori：Evaluation of the RobotForce Sensor Structure Using Singular Value Decomposition

Advanced Robotics, vol. 5, no. 1, pp. 39-52, 1991

Related papers

[1] M. Uchiyama, E. Bayo and E. Palma-Villalon: A Systematic Design Procedure to Minimize a Performance Index for Robot Force Sensors,Transactions of the ASME, Journal of Dynamic Systems, Measurement, and Control, vol. 113, no. 3, pp. 388-394, 1991.

[2] M. M. Svinin and M. Uchiyama: Optimal Geometric Structures of Force/Torque Sensors, The International Journal of Robotics Research, vol. 14, no. 6, pp. 560-573, 1995.

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