Study on the requirements of joint torque sensors considering mechanical condition of the joint mechanism of a manipulator

Author

Park, ChanHun ; Kyung, Jin Ho ; Choi, Tae-Yong ; Do, Hyun Min ; Park, Dong-Il ; Kim, Byung-In

Author_Institution

Dept. of Robot. & Mechatron., Korea Inst. of Machinery & Mater., Daejeon, South Korea

fYear

2012

fDate

17-21 Oct. 2012

Firstpage

2114

Lastpage

2116

Abstract

There are many methods to measure the transmitted torque but it is useful to use a joint torque sensor which is equipped between the a flexspline and a link. Even though there exists the friction between them, the finally transmitted torque can be measured, then the measured torque can be used for the feedback torque of the manipulator control algorithm. In this research, we tried to find the requirement for the joint torque sensor. In this paper the experimental results will be introduced.

Keywords

feedback; friction; manipulator dynamics; sensors; torque control; torque measurement; feedback torque; flexspline; friction; joint torque sensors requirement; manipulator control algorithm; manipulator joint mechanism; mechanical condition; transmitted torque measure; Friction; Joints; Manipulators; Mechanical sensors; Torque; Torque measurement; Joint Torque; Joint Torque Sensor; Manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2012 12th International Conference on

Conference_Location

JeJu Island

Print_ISBN

978-1-4673-2247-8

Type

conf

Filename

6393197