Amar Banerji
ABSTRACT
A transducer's outputs in any typical sensor needs certain computations before meaningful information is extracted from it. The digitization of these signals for transmitting it to a computer for the required computation may cause significant quantization errors as well as the delay. We found that an analog computer can be the ideal solution for processing a force-torque sensor's signals. It is perfect for the situations where the sensor is used as a feedback device in a closed loop control system where a delay in the processed feedback signal may make the system unstable. We present here an OPAMP based analog computer that processes six low level (millivolts) signals by multiplying it with a Jacobian matrix without converting it to digital data.
- J. J. Craig. Introduction to Robotics. Addison-Wesley Publishing House, 1988.Google Scholar
- T. A. Dwarakanath and G. Bhutani. Beam type hexapod structure based six component force-torque sensor. Mechatronics, 21:1279--1287, 2011.Google ScholarCross Ref
- T. A. Dwarakanath, B. Dasgupta, and T. Mruthyunjaya. Design and development of a stewart platform based force-torque sensor. Mechatronics, (11):793--809, 2001.Google Scholar
- T. A. Dwarakanath and D. Venkatesh. Design and development of a stewart platform based force-torque sensor. Mechatronics, 16(7):565--575, 2006.Google ScholarCross Ref
- A. Gaillet and C. Reboulet. An isostatic six component force and torque sensor. Proceedings of the 13th Int. Symposium on Industrial Robotics, 1983.Google Scholar
- C. C. Nguyen, S. S. Antrazi, and Z. L. Zhou. Analysis and implementation of a 6 dof stewart platform-based force sensor for passive compliant robotic assembly. Proceedings of the IEEE SOUTHEASTCON, pages 880--884, 1991.Google ScholarCross Ref
- D. Rajaramn and V. Rajaramn. Computer Primer, 2nd Ed. Printice Hall of India, New Delhi, 1996.Google Scholar
Index Terms
- An Analog Computer for a 6-axes Force-Torque Sensor
Recommendations
A 6 mW 750 MHz anti-aliasing filter for receiver analog front-end
A low power high speed continuous-time filter for receiver application in standard 90 nm CMOS process is presented. A biquad cell based on the open-loop topology is implemented. Besides, a differential voltage buffer with additional gain boost, high ...
A low distortion CMOS analogue switch with high-order compensation
A novel bootstrapped analogue switch with high-order harmonic distortion compensation applied in the multiply digital-to-analog convertor (MDAC) of high-speed and high-resolution pipelined analog-to-digital convertor is presented. To diminish inherent ...
A 6-bit 2.5-GS/s Time-Interleaved Analog-to-Digital Converter Using Resistor-Array Sharing Digital-to-Analog Converter
This paper presents a 6-bit 2.5-GS/s time-interleaved (TI) successive-approximation-register (SAR) analog-to-digital converter (ADC) that uses a resistor-array sharing digital-to-analog converter (RASD). By applying the input folding technique in the ...
Comments