Optimal Geometric Structures of Force/Torque Sensors

M. M. Svinin, M. Uchiyama

Research output: Contribution to journalArticlepeer-review

44 Citations (Scopus)


In controlling manipulators interacting with the external en vironment, an important role is played by the force/torque sensors. In recent years, a number of constructs for such sen sors have been proposed, and some criteria for their evaluation have been introduced. This article presents a systematic analy sis of force sensors at the design stage, which has not been undertaken in the literature. A generalized model of the sensors is developed on the basis of static and kinematic equations, and a block form of the resulting strain compliance matrix of the sensor is obtained. The model developed is then applied to the analysis of two- and three-dimensional sensor schemes cor responding to regular polygons and polyhedrons, respectively. The condition number of the normalized strain compliance matrix of the sensor is used as a performance index. The im possibility of reaching the optimal values of this criterion is stated for the regular polygon form-based sensors. Partial solutions of the optimization problem are found out for the reg ular polyhedron form—based sensors. The presentation of the material is illustrated by analytical examples.

Original languageEnglish
Pages (from-to)560-573
Number of pages14
JournalThe International Journal of Robotics Research
Issue number6
Publication statusPublished - Dec 1995
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Software
  • Mechanical Engineering
  • Artificial Intelligence
  • Applied Mathematics
  • Electrical and Electronic Engineering
  • Modelling and Simulation


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