A comparison of force sensing techniques for planetary manipulation

Five techniques for sensing forces with a manipulator are compared analytically and experimentally. The techniques compared are: a six-axis wrist force/torque sensor, joint torque sensors, link strain gauges, motor current sensors, and flexibility modeling. The accuracy and repeatability of each technique is quantified and compared. The relative complexity and the impact on flight design of each technique are also compared. The results presented can be used in a trade study for missions requiring manipulator force sensing capabilities