Abstract
This paper is a study on the output of the force sensor which is used for the simulation analysis of the time-discrete digital force control of a miniature flexible robotic arm driven by piezoelectric bimorph cells. The output of the sensor installed on the tip of the arm modeled by ( a ) the product of the axial stiffness of the sensor with the relative displacement of the sensor to the object and by ( b ) the lateral force derived from the integration of the equation of motion of the arm. Model ( a ) is the classical, commonly used expression on the sensor output, while model ( b ) is the expression newly proposed in this analysis. It is found from the numerical analysis that model ( a ) presents unsatisfactory estimation while model ( b ) offers adequate results for the output of sensor which is used for a nimulation analysis for the time-discrete digital feedback control of the system.
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