Hybrid position and force control of a robot arm equipped with joint torque sensors

Hyun Cheol Cho, Jae Kyung Min, Jae Bok Song

    Research output: Contribution to conferencePaperpeer-review

    4 Citations (Scopus)

    Abstract

    A force/torque sensor, which is usually mounted at the wrist of a robot arm, is often used to implement force control. However, this sensor is very expensive and can only measure the forces and moments acting at the end-effector, so it cannot detect collisions occurring at parts other than the end-effector. To deal with these problems, we developed a robot arm in which joint torque sensors are installed at each joint instead of a force/torque sensor. With these torque sensors, hybrid position/force control can be conducted without a force/torque sensor. Experiments were conducted in which a robot arm draws a symbol on a board using a marker attached at the end-effector. These experiments show that position and force control are possible in any direction by using a robot arm with a torque sensor at each joint.

    Original languageEnglish
    Pages577-579
    Number of pages3
    DOIs
    Publication statusPublished - 2013
    Event2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 - Jeju, Korea, Republic of
    Duration: 2013 Oct 302013 Nov 2

    Other

    Other2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
    Country/TerritoryKorea, Republic of
    CityJeju
    Period13/10/3013/11/2

    Keywords

    • Force Control
    • Hybrid Position and Force Control
    • Impedance Control
    • Joint Torque Sensor

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Human-Computer Interaction

    Fingerprint

    Dive into the research topics of 'Hybrid position and force control of a robot arm equipped with joint torque sensors'. Together they form a unique fingerprint.

    Cite this