TY - GEN
T1 - Torque control based sensorless hand guiding for direct robot teaching
AU - Lee, Sang Duck
AU - Ahn, Kuk Hyun
AU - Song, Jae Bok
N1 - Funding Information:
This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by KEIT (No. 10048980) and (No. 10060110).
Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - In recent years, much research has been done to develop various direct teaching schemes, in which an operator directly teaches a robot by hand guiding instead of using a teach pendant. However, conventional direct teaching methods are usually sensor based, thus leading to an expensive solution. To deal with this problem, this study proposes a sensorless hand guiding method based on torque control. The dynamic model of a robot along with the motor current and friction model is used to determine the user's intention to move the end-effector of a robot instead of directly sensing the external force by the user. A friction torque observer is employed for the friction model identification. The proposed method was experimentally verified using a 6 DOF robot. The experimental results show that the proposed sensorless hand guiding scheme is quite useful for practical direct teaching although the sensitivity is slightly lower than the sensor-based approach.
AB - In recent years, much research has been done to develop various direct teaching schemes, in which an operator directly teaches a robot by hand guiding instead of using a teach pendant. However, conventional direct teaching methods are usually sensor based, thus leading to an expensive solution. To deal with this problem, this study proposes a sensorless hand guiding method based on torque control. The dynamic model of a robot along with the motor current and friction model is used to determine the user's intention to move the end-effector of a robot instead of directly sensing the external force by the user. A friction torque observer is employed for the friction model identification. The proposed method was experimentally verified using a 6 DOF robot. The experimental results show that the proposed sensorless hand guiding scheme is quite useful for practical direct teaching although the sensitivity is slightly lower than the sensor-based approach.
UR - http://www.scopus.com/inward/record.url?scp=85006410182&partnerID=8YFLogxK
U2 - 10.1109/IROS.2016.7759135
DO - 10.1109/IROS.2016.7759135
M3 - Conference contribution
AN - SCOPUS:85006410182
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 745
EP - 750
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -