Embedded joint torque sensor with reduced torque ripple of harmonic drive

In Moon Kim, Hwi Su Kim, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

Joint torque sensors are widely used in service robots for force control and collision detection. However, since torque sensors are often directly connected to a harmonic drive, it must be insensitive to torque ripple, the noise from the harmonic drive due to its unique structure. The magnitude of torque ripple is several times higher than electrical noise, and it significantly decreases robot's force control and collision detection performances. In this study, we propose the torque ripple reduction method through the change of the installation position of Wheatstone bridges, and the structure design of torque sensor for service robot arms through FEM analysis. The performance of the proposed reduction method was verified through experiments.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012
PublisherSpringer Verlag
Pages633-640
Number of pages8
EditionVOL. 2
ISBN (Print)9783642339318
DOIs
Publication statusPublished - 2013
Event12th International Conference on Intelligent Autonomous Systems, IAS 2012 - Jeju Island, Korea, Republic of
Duration: 2012 Jun 262012 Jun 29

Publication series

NameAdvances in Intelligent Systems and Computing
NumberVOL. 2
Volume194 AISC
ISSN (Print)2194-5357

Other

Other12th International Conference on Intelligent Autonomous Systems, IAS 2012
CountryKorea, Republic of
CityJeju Island
Period12/6/2612/6/29

Keywords

  • harmonic drive
  • joint torque sensor
  • service robot arm
  • torque ripple

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

Fingerprint Dive into the research topics of 'Embedded joint torque sensor with reduced torque ripple of harmonic drive'. Together they form a unique fingerprint.

  • Cite this

    Kim, I. M., Kim, H. S., & Song, J. B. (2013). Embedded joint torque sensor with reduced torque ripple of harmonic drive. In Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012 (VOL. 2 ed., pp. 633-640). (Advances in Intelligent Systems and Computing; Vol. 194 AISC, No. VOL. 2). Springer Verlag. https://doi.org/10.1007/978-3-642-33932-5_59