A novel 6-DOF force/torque sensor for COBOTs and its calibration method

Tan Phat Phan, Chang-Po Chao, Jia Jun Cai, Yu Jen Wang, Sheng Ching Wang, Kyle Wong

研究成果: Conference contribution同行評審

3 引文 斯高帕斯(Scopus)

摘要

This paper intends to design a 6-DOF force/torque sensor along with its readout circuit for collaborative robots (Cobots) working environment. There are two major technologies to develop by this paper. The first technology is the capability of sensing contact forces and torques by a newly-designed six degrees-of-freedom (DOF) force/torque sensor at a fast speed to facilitate feedback control towards anti-collision for the Cobots with wide measurement range, precision, with a smaller size and lower costs. For the force/torque sensor structure, the finite element method (FEM) is established. The sensor is designed and optimized based on finite element analysis (FEA) while 'maximum likelihood estimation (MLE)' is utilized to increase accuracy in estimation of force/torque by using appropriate statistical model. The second technology is the anti-collision control. If the collision occurs, the Cobot has an ability to response safely and instantaneously. The proposed control scheme and assisting 6-DOF sensor are capable of performing Cobots anti-collision in welding, grinding, polishing, assembling, etc. with high precision.

原文English
主出版物標題Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018
編輯Artde Donald Kin-Tak Lam, Stephen D. Prior, Teen-Hang Meen
發行者Institute of Electrical and Electronics Engineers Inc.
頁面1228-1231
頁數4
ISBN(電子)9781538643426
DOIs
出版狀態Published - 22 六月 2018
事件4th IEEE International Conference on Applied System Innovation, ICASI 2018 - Chiba, Japan
持續時間: 13 四月 201817 四月 2018

出版系列

名字Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018

Conference

Conference4th IEEE International Conference on Applied System Innovation, ICASI 2018
國家Japan
城市Chiba
期間13/04/1817/04/18

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