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Method for Measuring a Position by Using a Force Sensor

IP.com Disclosure Number: IPCOM000102178D
Original Publication Date: 1990-Nov-01
Included in the Prior Art Database: 2005-Mar-17
Document File: 2 page(s) / 62K

Publishing Venue

IBM

Related People

Asaka, S: AUTHOR [+4]

Abstract

A method is proposed for measuring a position in a three-dimensional space by using a force sensor.

This text was extracted from an ASCII text file.
This is the abbreviated version, containing approximately 64% of the total text.

Method for Measuring a Position by Using a Force Sensor

       A method is proposed for measuring a position in a
three-dimensional space by using a force sensor.

      An object is attached to a force sensor that measures both the
force and moment applied as three-dimensional vectors, and the three-
dimensional position of the point on the object at which they are
applied is calculated. First, the force is applied to a point on the
object whose position is to be measured without making contact with
any other point.  Next, the line of contact force is calculated by
using the force and moment vectors measured with the force sensor.
Other forces are repeatedly applied to the same contact point, and
the line of force is calculated each time. Finally, the point nearest
to the lines is calculated as the contact point (Fig. 1).

      The measurement algorithm is as follows:  When various forces
are consecutively applied to the same point, whose position is to be
measured, on an object from various angles while maintaining contact
with the point, the lines of contact force always pass through the
same point. Therefore, the contact point can be calculated by finding
the intersection of the lines, each of which can be calculated from
the force and moment vectors measured with the force sensor.
However, since an error in measurement with the force sensor is
involved in the calculation of each line, the contact point is
regarded as the point nearest to the lines.  Th...