A Cancelation Method of Internal Inertia Force from F/T Sensors

Title
A Cancelation Method of Internal Inertia Force from F/T Sensors
Authors
김도익배지훈오용환
Keywords
force sensor; calibration; wrench; point mass; Internal force/torque effect; Force sensor calibration
Issue Date
2009-05
Publisher
Robomec2009
Citation
, 1A2-D12-1-1A2-D12-4
Abstract
This paper proposes a practical method on the cancelation of unexpected internal inertia force and moment measured by F/T sensors during fast arm motions. With the canceled force and moment, we can measure pure external force applied to the arm.
URI
http://pubs.kist.re.kr/handle/201004/35431
Appears in Collections:
KIST Publication > Conference Paper
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