DocumentCode :
138593
Title :
Joint space torque controller based on time-delay control with collision detection
Author :
Sung-moon Hur ; Sang-Rok Oh ; Yonghwan Oh
Author_Institution :
Korea Inst. of Sci. & Technol., Seoul, South Korea
fYear :
2014
fDate :
14-18 Sept. 2014
Firstpage :
4710
Lastpage :
4715
Abstract :
This paper addresses a control method for friction-existing robot manipulators and safe motion with its environment. In order to control the robot manipulator with unknown effects, a time-delay control(TDC) method that eliminates the nonlinear effects is used to control the joint torque servo. Although the TDC is very adaptive in nonlinear systems, there is limitation of the TDC in a high friction robot manipulator; hence, a friction model is considered. A collision detecting method is proposed to secure safety for human and robot-interacting environment. Using the torque sensor attached at the joints of the robot arm, the collision is detected more effectively. After detecting collision, a safety reaction method is applied. A torque sensor based 3-joints robot arm is used to verify the performance of the proposed methods.
Keywords :
adaptive control; collision avoidance; delays; manipulators; nonlinear control systems; torque control; TDC method; adaptive control; collision detecting method; collision detection; control method; friction model; human interacting environment; joint space torque controller; joint torque servo; nonlinear effects; nonlinear systems; robot interacting environment; robot manipulators; safe motion; safety reaction method; time delay control; torque sensor; unknown effects; Collision avoidance; Friction; Joints; Manipulators; Robot sensing systems; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
Conference_Location :
Chicago, IL
Type :
conf
DOI :
10.1109/IROS.2014.6943232
Filename :
6943232
Link To Document :
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