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

9 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 publicationAdvances in Intelligent Systems and Computing
Pages633-640
Number of pages8
Volume194 AISC
EditionVOL. 2
DOIs
Publication statusPublished - 2013 Jan 29
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)21945357

Other

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

Fingerprint

Torque
Sensors
Force control
Robots
Finite element method
Experiments

Keywords

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

ASJC Scopus subject areas

  • Computer Science(all)
  • Control and Systems Engineering

Cite this

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

Embedded joint torque sensor with reduced torque ripple of harmonic drive. / Kim, In Moon; Kim, Hwi Su; Song, Jae-Bok.

Advances in Intelligent Systems and Computing. Vol. 194 AISC VOL. 2. ed. 2013. p. 633-640 (Advances in Intelligent Systems and Computing; Vol. 194 AISC, No. VOL. 2).

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

Kim, IM, Kim, HS & Song, J-B 2013, Embedded joint torque sensor with reduced torque ripple of harmonic drive. in Advances in Intelligent Systems and Computing. VOL. 2 edn, vol. 194 AISC, Advances in Intelligent Systems and Computing, no. VOL. 2, vol. 194 AISC, pp. 633-640, 12th International Conference on Intelligent Autonomous Systems, IAS 2012, Jeju Island, Korea, Republic of, 12/6/26. https://doi.org/10.1007/978-3-642-33932-5_59
Kim IM, Kim HS, Song J-B. Embedded joint torque sensor with reduced torque ripple of harmonic drive. In Advances in Intelligent Systems and Computing. VOL. 2 ed. Vol. 194 AISC. 2013. p. 633-640. (Advances in Intelligent Systems and Computing; VOL. 2). https://doi.org/10.1007/978-3-642-33932-5_59
Kim, In Moon ; Kim, Hwi Su ; Song, Jae-Bok. / Embedded joint torque sensor with reduced torque ripple of harmonic drive. Advances in Intelligent Systems and Computing. Vol. 194 AISC VOL. 2. ed. 2013. pp. 633-640 (Advances in Intelligent Systems and Computing; VOL. 2).
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