Force/Torque Sensors in Robotics & Embedded Systems

Force and torque sensors are crucial components in robotics and embedded systems, enabling robots to perceive and interact with their environment. These sensors measure the force applied to them and the torque around an axis, allowing for more precise control and feedback in robotic applications.

Definitions

• Force: A push or pull on an object measured in Newtons (N).
• Torque: A rotational force that causes an object to rotate around an axis, measured in Newton-meters (Nm).
• Sensor Output: The data produced by the sensor, typically in the form of voltage or digital signals.

Force/torque sensors utilize various technologies such as strain gauges, piezoelectric materials, and load cells to measure applied forces and torques. The basic principle involves converting mechanical deformation into an electrical signal.

            // Example of a basic measurement function for a force sensor
            float readForceSensor() {
                // Read raw sensor data
                int rawValue = analogRead(FORCE_SENSOR_PIN);
                // Convert raw data to force in Newtons
                float force = (rawValue / 1023.0) * MAX_FORCE; 
                return force;
            }
            

Force and torque sensors find applications in various fields:

• Robotic manipulation and grasping
• Automated assembly lines
• Haptic feedback systems
• Collision detection in robots
• Biomechanical analysis in medical robotics

Installation and Calibration

• Secure sensors firmly to avoid misreading due to movement.
• Calibrate sensors regularly to ensure consistency in output.
• Use shielding for sensors in noisy electrical environments.

// Example code for reading a torque sensor
#define TORQUE_SENSOR_PIN A1

float readTorqueSensor() {
    int rawValue = analogRead(TORQUE_SENSOR_PIN);
    float torque = (rawValue / 1023.0) * MAX_TORQUE;
    return torque;
}