ICRA 2012 Paper Abstract

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Paper TuD01.6

Sargeant, Ramon (Kings College London), Seneviratne, lakmal (Kings College London), Althoefer, Kaspar (Kings College London)

An Investigation of the Use of Linear Polarizers to Measure Force and Torque in Optical 6-DOF Force/Torque Sensors for Dexterous Manipulators

Scheduled for presentation during the Regular Session "Force & Tactile Sensors" (TuD01), Tuesday, May 15, 2012, 17:45−18:00, Meeting Room 1 (Mini-sota)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 11, 2017

Keywords Force and Tactile Sensing, Force Control, Dexterous Manipulation

Abstract

This paper presents a prototype of a force/torque sensor that uses fiber optic guided light and linear polarizer materials to obtain intensity modulated light to detect applied force and torque to the sensing structure. The sensor is also capable of measuring the contact direction between the sensor and the object. The sensorís design and operating principles are explained and experimental data is given to verify the proposed operating principle. The experimental data shows that linear polarizers can be used to measure the torque applied to a force/torque sensor.

 

 

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