TY - GEN
T1 - Robot Joint Module with a Reactive-type Joint Torque Sensor
AU - Park, Hui Chang
AU - Min, Jae Kyung
AU - Lee, Won Bum
AU - Song, Jae Bok
N1 - Funding Information:
*Research supported by the MOTIE under the Industrial Foundation Technology Development program supervised by the KEIT (No. 10048980).
Publisher Copyright:
© 2018 IEEE.
PY - 2018/8/20
Y1 - 2018/8/20
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85053550263&partnerID=8YFLogxK
U2 - 10.1109/URAI.2018.8441781
DO - 10.1109/URAI.2018.8441781
M3 - Conference contribution
AN - SCOPUS:85053550263
SN - 9781538663349
T3 - 2018 15th International Conference on Ubiquitous Robots, UR 2018
SP - 209
EP - 213
BT - 2018 15th International Conference on Ubiquitous Robots, UR 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th International Conference on Ubiquitous Robots, UR 2018
Y2 - 27 June 2018 through 30 June 2018
ER -