Low-Cost Fiducial-based 6-Axis Force-Torque Sensor
Low-Cost Fiducial-based 6-Axis Force-Torque Sensor
复制标题
低成本基于基准的 6 轴力扭矩传感器
DOI：
10.1109/icra40945.2020.9196925
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
R. Howe
中科院分区：
文献类型：
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作者：
Rui Ouyang;R. Howe
商用六轴力-扭矩传感器具有昂贵、易碎和使用困难的一些组合。我们提出了一个新的基于基准的设计，解决所有这三点。该传感器使用廉价的网络摄像头，可以使用消费级3D打印机制造。开源软件用于估计传感器上基准点的3D姿态，然后用于计算施加的力-扭矩。一个基于浏览器的（免安装）界面展示了易用性。传感器非常轻，可以掉下来或扔出去，很少担心。我们的原型在复合载荷下的动态条件下，发现平均R2超过0.99的Fx，Fy，Mx和My轴，超过0.87和0.90的Fz和Mz轴分别。开源设计文件允许传感器适应从机器人手指到人机界面的各种应用，而sdesign原则允许以最少的技术专业知识进行快速更改。这种方法有望将六轴力-扭矩传感技术引入新的应用领域，在这些应用中，传统的基于应变计的传感器的精度、成本和脆弱性都不合适。可以在http://sites.google.com/view/fiducialforcesensor上查看开源传感器设计。
Commercial six-axis force-torque sensors suffer from being some combination of expensive, fragile, and hard-touse. We propose a new fiducial-based design which addresses all three points. The sensor uses an inexpensive webcam and can be fabricated using a consumer-grade 3D printer. Open-source software is used to estimate the 3D pose of the fiducials on the sensor, which is then used to calculate the applied force-torque. A browser-based (installation free) interface demonstrates ease-of-use. The sensor is very light and can be dropped or thrown with little concern. We characterize our prototype in dynamic conditions under compound loading, finding a mean R2 of over 0.99 for the Fx, Fy, Mx, and My axes, and over 0.87 and 0.90 for the Fz and Mz axes respectively. The open source design files allow the sensor to be adapted for diverse applications ranging from robot fingers to human-computer interfaces, while the sdesign principle allows for quick changes with minimal technical expertise. This approach promises to bring six-axis force-torque sensing to new applications where the precision, cost, and fragility of traditional strain-gauge based sensors are not appropriate. The open-source sensor design can be viewed at http://sites.google.com/view/fiducialforcesensor.