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Paper TuD01.5

Piat, Emmanuel (UFC ENSMM), Abadie, Joel (UFC ENSMM), OSTER, Stéphane (Femto-st)

Analysis of the Trade-Off between Resolution and Bandwidth for a Nanoforce Sensor Based on Diamagnetic Levitation

Scheduled for presentation during the Regular Session "Force & Tactile Sensors" (TuD01), Tuesday, May 15, 2012, 17:30−17:45, 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 13, 2017

Keywords Force and Tactile Sensing, Micro/Nano Robots, Micro and Nanoscale Automation

Abstract

Nanoforce sensors based on passive diamagnetic levitation with a macroscopic seismic mass are a possible alternative to classical Atomic Force Microscopes when the force bandwidth to be measured is limited to a few Hertz. When an external unknown force is applied to the levitating seismic mass, this one acts as a transducer that converts this unknown input into a displacement that is the measured output signal. Because the inertia effect due to the mass of such macroscopic transducers can not be neglected for timevarying force measurement, it is necessary to deconvolve the displacement to correctly estimate the unknown input force. A deconvolution approach based on a Kalman filter and controlled by a scalar parameter has been recently proposed. The adjustement of this parameter leads to a trade-off that is analysed in this paper in term of resolution and bandwidth of the estimated force. Associated tools to help the end-user to set this parameter are also described.

 

 

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