Research Article
Disturbance Elimination for the Modular Joint Torque Sensor of a Collaborative Robot
Table 3
Performance of the commercial and developed torque sensors.
| | Quantity | Height (mm) | Diameter (mm) | Weight (g) | Sensing range (Nm) | Nonlinearity (%) | Hysteresis (%) | Output type |
| | M2210C1 | 7 | 80 | 180 | 100 | 0.5 | 1 | Analog | | Developed sensor | 10 | 86 | 60.6 | 70 | 0.878 | 0.903 | Digital |
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