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 language | English |
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Pages | 577-579 |
Number of pages | 3 |
DOIs | |
Publication status | Published - 2013 |
Event | 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 - Jeju, Korea, Republic of Duration: 2013 Oct 30 → 2013 Nov 2 |
Other
Other | 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 |
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Country/Territory | Korea, Republic of |
City | Jeju |
Period | 13/10/30 → 13/11/2 |
Keywords
- Force Control
- Hybrid Position and Force Control
- Impedance Control
- Joint Torque Sensor
ASJC Scopus subject areas
- Artificial Intelligence
- Human-Computer Interaction