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dc.contributorTuró Peroy, Antonio
dc.contributor.authorEscoté Lluís, Oriol
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica
dc.date.accessioned2018-06-10T13:20:18Z
dc.date.available2018-06-10T13:20:18Z
dc.date.issued2017-11
dc.identifier.urihttp://hdl.handle.net/2117/117972
dc.descriptionThe use of robots and manipulators in many kind of applications, such as scientific, medical or industrial ones, requires efficient multi-component force sensing schemes to control the force exerted by the robot end-effector on a human or an object. A multiaxis force sensor can be used to measure the contact force as accurately as possible, and to feed it back to the command signal so that the robot can achieve the pre-specified contact force. As the commercial force sensors are complex and expensive, the goal of this work is to make a multiaxis force sensor that could r
dc.description.abstractThis work describes the design, development and calibration of a complete six?degree-of-freedom force and torque sensor. Compared to commercial sensors, this design has the advantage of simplicity and low cost. The sensor was machined from aluminium, and sensed by an array of commercial low-cost strain gauges. As a sensor, it could be applied in multi-DOF industrial, scientific and medical robotic systems, for instance.
dc.language.isoeng
dc.publisherUniversitat Politècnica de Catalunya
dc.rightsS'autoritza la difusió de l'obra mitjançant la llicència Creative Commons o similar 'Reconeixement-NoComercial- SenseObraDerivada'
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Enginyeria de la telecomunicació
dc.subject.lcshDetectors
dc.subject.lcshRobotics
dc.subject.otherforce
dc.subject.othertorque
dc.subject.othersensor
dc.subject.other6DOF
dc.titleSix Degree of Freedom Force/Torque Sensor
dc.title.alternativeSix Degree of Freedom Force/Torque Sensor
dc.typeMaster thesis
dc.subject.lemacDetectors
dc.subject.lemacRobòtica
dc.identifier.slugETSETB-230.130059
dc.rights.accessOpen Access
dc.date.updated2018-02-15T09:31:12Z
dc.audience.educationlevelMàster
dc.audience.mediatorEscola Tècnica Superior d'Enginyeria de Telecomunicació de Barcelona


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Attribution-NonCommercial-NoDerivs 3.0 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain