Robot joint module equipped with joint torque sensor with disk-type coupling for torque error reduction

Jae Kyung Min, Hong Seon Yu, Kuk Hyun Ahn, Jae-Bok Song

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

Force control and collision detection of a robot were usually conducted using a 6 axis force/torque sensor mounted at the end-effector. This scheme, however, suffers from its high cost and inability to detect collisions at the robot body. As an alternative, joint torque sensors embedded in each joint were used, but they also suffered from various errors in torque measurement. To solve this problem, a robot joint module with an improved joint torque sensor is proposed in this study. In the proposed torque sensor, a cross-roller bearing and disk-type coupling are added to prevent the moment load from adversely affecting the measurement of the joint torque and to reduce the stress induced in the assembly process of the sensor. The performance of the proposed joint torque sensor was verified through various experiments.

Original languageEnglish
Pages (from-to)371-378
Number of pages8
JournalLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9244
DOIs
Publication statusPublished - 2015

Fingerprint

Error Reduction
Torque
Robot
Robots
Module
Sensor
Sensors
Torque measurement
Roller bearings
Force control
End effectors
Collision Detection
Force Control
Collision
Moment
Alternatives
Costs
Experiment

Keywords

  • Disk-type coupling
  • Joint torque sensor
  • Moment load
  • Robot joint module
  • Torque measurement

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

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title = "Robot joint module equipped with joint torque sensor with disk-type coupling for torque error reduction",
abstract = "Force control and collision detection of a robot were usually conducted using a 6 axis force/torque sensor mounted at the end-effector. This scheme, however, suffers from its high cost and inability to detect collisions at the robot body. As an alternative, joint torque sensors embedded in each joint were used, but they also suffered from various errors in torque measurement. To solve this problem, a robot joint module with an improved joint torque sensor is proposed in this study. In the proposed torque sensor, a cross-roller bearing and disk-type coupling are added to prevent the moment load from adversely affecting the measurement of the joint torque and to reduce the stress induced in the assembly process of the sensor. The performance of the proposed joint torque sensor was verified through various experiments.",
keywords = "Disk-type coupling, Joint torque sensor, Moment load, Robot joint module, Torque measurement",
author = "Min, {Jae Kyung} and Yu, {Hong Seon} and Ahn, {Kuk Hyun} and Jae-Bok Song",
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AU - Yu, Hong Seon

AU - Ahn, Kuk Hyun

AU - Song, Jae-Bok

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N2 - Force control and collision detection of a robot were usually conducted using a 6 axis force/torque sensor mounted at the end-effector. This scheme, however, suffers from its high cost and inability to detect collisions at the robot body. As an alternative, joint torque sensors embedded in each joint were used, but they also suffered from various errors in torque measurement. To solve this problem, a robot joint module with an improved joint torque sensor is proposed in this study. In the proposed torque sensor, a cross-roller bearing and disk-type coupling are added to prevent the moment load from adversely affecting the measurement of the joint torque and to reduce the stress induced in the assembly process of the sensor. The performance of the proposed joint torque sensor was verified through various experiments.

AB - Force control and collision detection of a robot were usually conducted using a 6 axis force/torque sensor mounted at the end-effector. This scheme, however, suffers from its high cost and inability to detect collisions at the robot body. As an alternative, joint torque sensors embedded in each joint were used, but they also suffered from various errors in torque measurement. To solve this problem, a robot joint module with an improved joint torque sensor is proposed in this study. In the proposed torque sensor, a cross-roller bearing and disk-type coupling are added to prevent the moment load from adversely affecting the measurement of the joint torque and to reduce the stress induced in the assembly process of the sensor. The performance of the proposed joint torque sensor was verified through various experiments.

KW - Disk-type coupling

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