Abstract
The paper presents the problem of eliminating the effects of inertial forces on the measurement circuit of the forces of interaction between a robotic manipulator and its environment. Inertial forces are among the most significant interferences in force measurement circuits. The causes and effects of this interference type are discussed. A concept is discussed, based on the measurement of acceleration of a manipulator end-effector. A test rig is discussed, as used for verification testing of a procedure for eliminating the effect of inertial forces on the measurement of interaction forces. Verification test results are shown which proved that the procedure is effective. The procedure developed in this work is highly significant for practical applications in robotized machining.
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Gierlak, P., Burghardt, A., Szybicki, D., Kurc, K. (2019). Eliminating the Inertial Forces Effects on the Measurement of Robot Interaction Force. In: Hanus, R., Mazur, D., Kreischer, C. (eds) Methods and Techniques of Signal Processing in Physical Measurements. MSM 2018. Lecture Notes in Electrical Engineering, vol 548. Springer, Cham. https://doi.org/10.1007/978-3-030-11187-8_6
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