Robot Joint Module with a Reactive-type Joint Torque Sensor

Hui Chang Park, Jae Kyung Min, Won Bum Lee, Jae-Bok Song

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

1 Citation (Scopus)

Abstract

Robot safety is very important when human worker and robots are working side by side in the shard space. In the early stage, force control and collision detection of the robot were performed by attaching a six-axis force/torque sensor to the robot end. However, this method was costly due to the expensive sensor and could not detect a collision occurring in the robot body. An alternative is to use a joint module equipped with a joint torque sensor (JTS) that can measure the exact torque transmitted to the link. However, the current JTS is affected by the vibration of the harmonic drive, so there is a limitation in accurate torque measurement. Furthermore, there is a problem that the stiffness of JTS is low enough to degrade the performance of the robot. The proposed joint module minimizes the error due to the torque ripple by adopting the reactive type JTS for which the location of JTS is separated from the harmonic drive and by having a ring structure which results in high stiffness and compact structure. Various experiments verified that the proposed joint module and JTS show very good performance.

Original languageEnglish
Title of host publication2018 15th International Conference on Ubiquitous Robots, UR 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages209-213
Number of pages5
ISBN (Print)9781538663349
DOIs
Publication statusPublished - 2018 Aug 20
Event15th International Conference on Ubiquitous Robots, UR 2018 - Honolulu, United States
Duration: 2018 Jun 272018 Jun 30

Other

Other15th International Conference on Ubiquitous Robots, UR 2018
CountryUnited States
CityHonolulu
Period18/6/2718/6/30

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Optimization
  • Mechanical Engineering

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  • Cite this

    Park, H. C., Min, J. K., Lee, W. B., & Song, J-B. (2018). Robot Joint Module with a Reactive-type Joint Torque Sensor. In 2018 15th International Conference on Ubiquitous Robots, UR 2018 (pp. 209-213). [8441781] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2018.8441781