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22 September 1993 Parameter optimization of robotic multidimensional force sensors
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Proceedings Volume 2101, Measurement Technology and Intelligent Instruments; (1993) https://doi.org/10.1117/12.156350
Event: Measurement Technology and Intelligent Instruments, 1993, Wuhan, China
Abstract
The Fisher's information matrix M is introduced for the design and calibration of robot's multidimensional force sensors. The parameter optimization is based on the standard performance index J = - lgdetM with relevant constraints. The corresponding optimality conditions should be met by the structure parameter of the force sensors in order to maximize the information content of the data. It is proved that the isotropic sensors arc maximally informative. Finally, the matching principle of the sensor's structure with its tasks is presented based on the information matrix.
© (1993) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Youlun Xiong "Parameter optimization of robotic multidimensional force sensors", Proc. SPIE 2101, Measurement Technology and Intelligent Instruments, (22 September 1993); https://doi.org/10.1117/12.156350
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