Study on the requirements of joint torque sensors considering mechanical condition of the joint mechanism of a manipulator

摘要

There are many methods to measure the transmitted torque but it is useful to use a joint torque sensor which is equipped between the a flexspline and a link. Even though there exists the friction between them, the finally transmitted torque can be measured, then the measured torque can be used for the feedback torque of the manipulator control algorithm. In this research, we tried to find the requirement for the joint torque sensor. In this paper the experimental results will be introduced.