Abstract
Wormsensing Dragonfly® sensors are strain sensors with a sensitivity which outperform standard strain gauges. Deformations down to 10ndef can be measured accurately.
In this paper several enhancements to a commercial robot using Dragonfly® sensors are suggested. By gluing sensors on the robot structural parts and on its head, the touching force is estimated, as well as the oscillations of the head around its target position due to the robot compliance. Contrary to integrating traditional force cells, embedding Dragonfly® sensors in a structure does not change its mechanical behavior, nor does it require to adapt the structure’s design.
Keywords
Piezoelectric sensor, force cell, strain measurements, robot monitoring