Title :
Study on the requirements of joint torque sensors considering mechanical condition of the joint mechanism of a manipulator
Author :
Park, ChanHun ; Kyung, Jin Ho ; Choi, Tae-Yong ; Do, Hyun Min ; Park, Dong-Il ; Kim, Byung-In
Author_Institution :
Dept. of Robot. & Mechatron., Korea Inst. of Machinery & Mater., Daejeon, South Korea
Abstract :
There are many methods to measure the transmitted torque but it is useful to use a joint torque sensor which is equipped between the a flexspline and a link. Even though there exists the friction between them, the finally transmitted torque can be measured, then the measured torque can be used for the feedback torque of the manipulator control algorithm. In this research, we tried to find the requirement for the joint torque sensor. In this paper the experimental results will be introduced.
Keywords :
feedback; friction; manipulator dynamics; sensors; torque control; torque measurement; feedback torque; flexspline; friction; joint torque sensors requirement; manipulator control algorithm; manipulator joint mechanism; mechanical condition; transmitted torque measure; Friction; Joints; Manipulators; Mechanical sensors; Torque; Torque measurement; Joint Torque; Joint Torque Sensor; Manipulator;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2012 12th International Conference on
Conference_Location :
JeJu Island
Print_ISBN :
978-1-4673-2247-8
