Force and torque smart tensegrity sensor

Cornel Sultan; Robert T. Skelton

doi:10.1117/12.316316

24 July 1998 Force and torque smart tensegrity sensor

Cornel Sultan, Robert T. Skelton

Proceedings Volume 3323, Smart Structures and Materials 1998: Mathematics and Control in Smart Structures; (1998) https://doi.org/10.1117/12.316316
Event: 5th Annual International Symposium on Smart Structures and Materials, 1998, San Diego, CA, United States

Abstract

Tensegrity structures represent a special class of tendon space structures, whose members may simultaneously perform the functions of strength, sensing, actuating and feedback control. The paper exploits this advantage, proposing a smart tensegrity sensor for simultaneous measurement of six quantities: three orthogonal forces and three orthogonal moments. The paper shows how the static and dynamic characteristics of the device can be calibrated through pretension and damping adjustment. The external forces and torques of interest are estimated using the measurements provided by selected tendons. A state estimator, based on the linearized model, finalizes the design.

Citation Download Citation

Cornel Sultan and Robert T. Skelton "Force and torque smart tensegrity sensor", Proc. SPIE 3323, Smart Structures and Materials 1998: Mathematics and Control in Smart Structures, (24 July 1998); https://doi.org/10.1117/12.316316

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