论文标题
低成本基于基于基准的6轴力扭力传感器
Low-Cost Fiducial-based 6-Axis Force-Torque Sensor
论文作者
论文摘要
商用的六轴力刺传感器遭受了昂贵，脆弱和难以使用的某种组合。我们提出了一种基于基于基准的新设计，该设计涉及所有三个点。传感器使用廉价的网络摄像头，可以使用消费级3D打印机制造。开源软件用于估计传感器上的基准物的3D姿势，然后将其用于计算施加的力刺。基于浏览器的（免费安装）接口表现出易用性。传感器非常轻，可以掉落或扔掉，几乎没有关注。我们在复合加载下在动态条件下表征了原型，分别为$ f_x，f_y，m_x $和$ m_y $ axes找到平均$ r^2 $，分别为0.99，分别为$ f_z $和$ m_z $ axes的0.87和0.90。开源设计文件允许传感器适用于从机器人手指到人体计算机接口的各种应用程序，而Sdesign原理则可以通过最小的技术专长进行快速更改。这种方法有望将六轴力扭力传感带到新的应用中，在这种新应用中，基于应变的传感器的精确性，成本和脆弱性是不合适的。可以在http://sites.google.com/view/fiducialforcesensor上查看开源传感器设计。
Commercial six-axis force-torque sensors suffer from being some combination of expensive, fragile, and hard-to-use. We propose a new fiducial-based design which addresses all three points. The sensor uses an inexpensive webcam and can be fabricated using a consumer-grade 3D printer. Open-source software is used to estimate the 3D pose of the fiducials on the sensor, which is then used to calculate the applied force-torque. A browser-based (installation free) interface demonstrates ease-of-use. The sensor is very light and can be dropped or thrown with little concern. We characterize our prototype in dynamic conditions under compound loading, finding a mean $R^2$ of over 0.99 for the $F_x, F_y, M_x$, and $M_y$ axes, and over 0.87 and 0.90 for the $F_z$ and $M_z$ axes respectively. The open source design files allow the sensor to be adapted for diverse applications ranging from robot fingers to human-computer interfaces, while the sdesign principle allows for quick changes with minimal technical expertise. This approach promises to bring six-axis force-torque sensing to new applications where the precision, cost, and fragility of traditional strain-gauge based sensors are not appropriate. The open-source sensor design can be viewed at http://sites.google.com/view/fiducialforcesensor.
