Hybrid position and force control of a robot arm equipped with joint torque sensors

Hyun Cheol Cho, Jae Kyung Min, Jae-Bok Song

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

1 Citation (Scopus)

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 languageEnglish
Title of host publication2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
PublisherIEEE Computer Society
Pages577-579
Number of pages3
DOIs
Publication statusPublished - 2013 Jan 1
Event2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 - Jeju, Korea, Republic of
Duration: 2013 Oct 302013 Nov 2

Other

Other2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
CountryKorea, Republic of
CityJeju
Period13/10/3013/11/2

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Keywords

  • Force Control
  • Hybrid Position and Force Control
  • Impedance Control
  • Joint Torque Sensor

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Cho, H. C., Min, J. K., & Song, J-B. (2013). Hybrid position and force control of a robot arm equipped with joint torque sensors. In 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 (pp. 577-579). [6677423] IEEE Computer Society. https://doi.org/10.1109/URAI.2013.6677423