A Criterion for the Optimal Design of Multiaxis Force Sensors

dc.creator	Bicchi, Antionio
dc.date	2004-10-04T14:25:39Z
dc.date	2004-10-04T14:25:39Z
dc.date	1990-10-01
dc.date.accessioned	2013-10-09T02:42:20Z
dc.date.available	2013-10-09T02:42:20Z
dc.date.issued	2013-10-09
dc.identifier	AIM-1263
dc.identifier	http://hdl.handle.net/1721.1/5995
dc.identifier.uri	http://koha.mediu.edu.my:8181/xmlui/handle/1721
dc.description	This paper deals with the design of multi-axis force (also known as force/torque) sensors, as considered within the framework of optimal design theory. The principal goal of this paper is to identify a mathematical objective function, whose minimization corresponds to the optimization of sensor accuracy. The methodology employed is derived from linear algebra and analysis of numerical stability. The problem of optimizing the number of basic transducers employed in a multi-component sensor is also addressed. Finally, applications of the proposed method to the design of a simple sensor as well as to the optimization of a novel, 6-axis miniaturized sensor are discussed.
dc.format	31 p.
dc.format	3657214 bytes
dc.format	1440979 bytes
dc.format	application/postscript
dc.format	application/pdf
dc.language	en_US
dc.relation	AIM-1263
dc.subject	sensor optimization
dc.subject	applied linear algebra
dc.subject	force sensors
dc.title	A Criterion for the Optimal Design of Multiaxis Force Sensors

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