Parameter optimization of robotic multidimensional force sensors

Youlun Xiong

doi:10.1117/12.156350

22 September 1993 Parameter optimization of robotic multidimensional force sensors

Youlun Xiong

Proceedings Volume 2101, Measurement Technology and Intelligent Instruments; (1993) https://doi.org/10.1117/12.156350
Event: Measurement Technology and Intelligent Instruments, 1993, Wuhan, China

Abstract

The Fisher's information matrix M is introduced for the design and calibration of robot's multidimensional force sensors. The parameter optimization is based on the standard performance index J = - lgdetM with relevant constraints. The corresponding optimality conditions should be met by the structure parameter of the force sensors in order to maximize the information content of the data. It is proved that the isotropic sensors arc maximally informative. Finally, the matching principle of the sensor's structure with its tasks is presented based on the information matrix.

Citation Download Citation

Youlun Xiong "Parameter optimization of robotic multidimensional force sensors", Proc. SPIE 2101, Measurement Technology and Intelligent Instruments, (22 September 1993); https://doi.org/10.1117/12.156350

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available