Torque control based sensorless hand guiding for direct robot teaching

Sang Duck Lee, Kuk Hyun Ahn, Jae-Bok Song

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

7 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages745-750
Number of pages6
Volume2016-November
ISBN (Electronic)9781509037629
DOIs
Publication statusPublished - 2016 Nov 28
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: 2016 Oct 92016 Oct 14

Other

Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
CountryKorea, Republic of
CityDaejeon
Period16/10/916/10/14

Fingerprint

Torque control
End effectors
Teaching
Robots
Friction
Sensors
Dynamic models
Identification (control systems)
Torque

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Lee, S. D., Ahn, K. H., & Song, J-B. (2016). Torque control based sensorless hand guiding for direct robot teaching. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2016-November, pp. 745-750). [7759135] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759135

Torque control based sensorless hand guiding for direct robot teaching. / Lee, Sang Duck; Ahn, Kuk Hyun; Song, Jae-Bok.

IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2016-November Institute of Electrical and Electronics Engineers Inc., 2016. p. 745-750 7759135.

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

Lee, SD, Ahn, KH & Song, J-B 2016, Torque control based sensorless hand guiding for direct robot teaching. in IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 2016-November, 7759135, Institute of Electrical and Electronics Engineers Inc., pp. 745-750, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 16/10/9. https://doi.org/10.1109/IROS.2016.7759135
Lee SD, Ahn KH, Song J-B. Torque control based sensorless hand guiding for direct robot teaching. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2016-November. Institute of Electrical and Electronics Engineers Inc. 2016. p. 745-750. 7759135 https://doi.org/10.1109/IROS.2016.7759135
Lee, Sang Duck ; Ahn, Kuk Hyun ; Song, Jae-Bok. / Torque control based sensorless hand guiding for direct robot teaching. IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2016-November Institute of Electrical and Electronics Engineers Inc., 2016. pp. 745-750
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