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Force-Sensing Error Propagation in Multi-Axis Force Sensors

다축 힘센서에서 힘감지 오차의 전파

강철구

  • Published : 2000.11.01

Abstract

In multi-axis force sensor, compliance matrices representing structural behaviour of internal sensor bodies play an important role in decoupled sensing and accuracy, Recently, error propagation through compliance matrices has been studied via approximation approach. However the upper bound of measured force error has not been known. In this paper, error propagation in force sensing is analysed in a unified way when both strain measurement error and compliance matrix error exist, and the upper bound of the measured force error is derived exactly(not approximately). The analysis is examined through a numerical example.

Keywords

Multi-Axis Force Sensor(다축 힘센서);Error Propagation(오차전파);Compliance Matrix(컴플라이언스행렬);Condition Number(상태수)

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