Measuring Limitation Analysis of Six-Axis Wrist Force Sensor Based on Screw Theory

Abstract

When robot do contact operation task to unknown environment, it often need wrist force sensor to check contact force information between robot and environment then judge the contact state, and check the information feedback to control system for completing operation smoothly. This paper analyze the measure theory of robot end wrist six-axis force sensor based on screw theory, propose and verify the limitation of six-axis wrist force sensor for measuring the six-dimensional force online.