A Stewart platform-based force-torque sensor with 6 instrumented elastic legs needs the solution of forward kinematics of the stewart platform in order to obtain the force adn torque acting on the using a prototype of a Stewart platform-based 6 axis force-torque sensor, we investigate experimentally the validity of the proposed method which uses a linearized closed-form solution of the forward kinematics for the force-torque sensor. The gravity compensation algorithm is included to reduce the gravity effects by the weights of the sensor.
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