Control of Large Forces and Torques Using an Asymmetrically Arranged Compliant Sensor

Abstract

Control of forces and torques seems to be solved. But there is a lack of a suitable method for easy use. In addition, there are differences between the control with a compliant sensor and with a stiff sensor. So the usual theory cannot be applied to a compliant sensor, even more if the sensor is distant from the contact point and not centered with respect to the vector of the desired force. The second aspect of compliant force control is the nonexistence of a compliant large scale sensor. Therefore a method to scale existing sensors and an example of its use is presented.