Tech Briefs Magazine - May 2024 - Sensor-12
TECHNOLOGY LEADERS Sensors
Figure 3 shows that the Bota Systems
FT sensor payload capacity fits the payload
curve of the 20 kg robot, while the
integrated/built-in sensor does not appear
to be covering the robot's entire
area of operation. For example, a load
of 100 N applied at a distance of 600
mm perpendicular to the reference
frame of the tool flange induces a load
of 60 Nm located outside of the operating
range of the built-in sensor. Therefore,
the internal sensor prevents the
robot from performing force-sensitive
tasks across its entire operating
range, effectively limiting its payload
and range capabilities in important
applications such as surface finishing
or assembly.
The Bota sensor outperforms the
built-in sensor across many criteria (see
Table 1), where precision, noise, and
accuracy are all substantially better. The
maximum data sampling rate is also
four times higher, at 2 kHz compared to
0.5 kHz.
An alternative approach for calculating
the six-axis force vector at the robot's
end effector is by measuring the
torque at the output shafts of the joints
by using torque sensors (see Figure 2).
Torque sensors are installed on each
of the joints. The measured torque at
each joint, combined with the joint's
position measurement and robot kinematics,
is theoretically sufficient for
calculating an estimate of the force
vector at the end effector.
At first glance, this appears to be a
neat and convenient integrated solution;
however, in practice, it has several
disadvantages. The noise level of
the calculated six-axis force vector is
not ideal since it is derived from the
robot's configuration. For example,
when the arm is fully stretched out and
certain components of the end effector
force are absorbed by the robot's structure,
it cannot be detected by the joint
torque sensors.
Figure 1. Delicate deburring with force feedback. (Image: Bota Systems AG)
A Comparison of Integrated and
External Sensors
A Bota Systems force torque sensor
was installed on a 20kg-payload robot
and compared against the robot's inte12
grated
force-torque sensor. Although
this was a test on a specific robot, it is
a typical application that, based on the
company's long-term experience, should
provide objective comparative results.
www.techbriefs.com
Precision Force Torque Sensors in Action
Robotics companies often focus on
basic applications such as stacking pallets
or welding, where built-in force
torque sensors are generally good
enough. However, there is a growing
array of applications that require a
higher level of sensing quality, for exSensor
Technology, May 2024
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Tech Briefs Magazine - May 2024
Table of Contents for the Digital Edition of Tech Briefs Magazine - May 2024
Tech Briefs Magazine - May 2024 - Intro
Tech Briefs Magazine - May 2024 - Sponsor
Tech Briefs Magazine - May 2024 - Cov1
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Tech Briefs Magazine - May 2024 - Cov3
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Tech Briefs Magazine - May 2024 - PIT-Cov1
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Tech Briefs Magazine - May 2024 - PIT-1
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Tech Briefs Magazine - May 2024 - Sensor-Cov1
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