A force/moment sensor for intuitive robot teaching application

Author

Hwan Choi, Myoung ; Won Lee, Woo

Author_Institution

Dept. of Control & Instrum. Eng., Kangwon Nat. Univ., Chunchon, South Korea

Volume

4

fYear

2001

fDate

2001

Firstpage

4011

Abstract

This paper presents the development of a force/moment sensor named COSMO-II that can be used in the intuitive robot teaching of a six axis robot. A new principle of force/moment detection is presented that uses force sensing resistor as the transducer. The function of the COSMO-II sensor is to detect the force and moment about the principal axes of the the sensor coordinate system, so that the sensor information can be used for the intuitive robot teaching. The architecture and force/moment detection principle and the developed prototype sensor are describe. The performance of the sensor is evaluated and the results are shown. The sensor architecture is simple and can be implemented at low cost.

Keywords

force sensors; industrial robots; robot programming; COSMO-II sensor; force sensor; industrial robots; moment sensor; robot programming; robot teaching; Education; Educational robots; Force sensors; Prototypes; Resistors; Robot kinematics; Robot sensing systems; Sensor phenomena and characterization; Sensor systems; Transducers;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933244

Filename

933244