Dynamic Force Sensing For PCB Insertion Application

摘要

This paper presents an accurate real time force measurement system that senses the force produced by the contact between a moving and a stationary objects. The system is useful in the robotic assembly application such as the PCB insertion assembly task. It incorporates a strain gage based force sensor and uses an unique signal processing technique incorporating the predictive filter and the wavelet transform to improve the force measurements. Experimental results show that the proposed technique exhibits better performance over the conventional methods such as the least mean square adaptive filtering and the recursive least square adaptive filtering.