Collision position sensing for manipulator using force/torque sensor
文献类型：会议论文
| 作者 | Leng YQ(冷雨泉) ; Chen ZC(陈正仓); Zhang W(张伟); Zhang Y(张阳); He X(何旭); Luo HT(骆海涛)
|
| 出版日期 | 2015 |
| 会议日期 | July 28-30, 2015 |
| 会议地点 | Hangzhou, China |
| 关键词 | Collision Position Force/torque Sensor Skin Sensor Manipulator |
| 页码 | 5809-5814 |
| 英文摘要 | Force sensing including collision position, force direction and force size makes robots smoothly interact with environment to strongly adapt to outside world. Skin sensing imitates principle of human skin using special material and physical structure with disadvantages of complex design, low sampling rate, and poor generality and so on. In this paper, the method of using fore/torque sensor to calculate collision position, force direction and force size is provided. We detail elaborate algorithm based on physical principle, and unified modeling method for basic geometric surface. Considering algorithm solvability and uniqueness, three constraints are proposed, which are joint constraint, contour constraint and force direction constraint. In order to solve conflict solution of algorithm in redundant constraints, we propose compatibility and method. In addition, gravity compensation and dynamic compensation are also described for working manipulator in gravity and dynamic environment. As a result of our simulation experiment, we would find that this method is effective for manipulator to measure collision position. |
| 源文献作者 | Hangzhou Dianzi University; Technical Committee on Control Theory (TCCT) of Chinese Association of Automation (CAA); The Society of Instr. and Contr. Engineers (SICE) |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 34th Chinese Control Conference
 |
| 会议录出版者 | IEEE Computer Society |
| 文献子类 | 会议论文 |
| 会议录出版地 | Washington, DC |
| 语种 | 英语 |
| ISSN号 | 1934-1768 |
| ISBN号 | 978-9-8815-6389-7 |
| WOS记录号 | WOS:000381007605076 |
| 源URL | [http://ir.sia.cn/handle/173321/17220]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 通讯作者 | Leng YQ(冷雨泉) |
| 作者单位 | 1.Department of Space Automation Technologies and Systems, State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, China 2.University of Chinese Academy of Science, Beijing, China |
| 推荐引用方式 GB/T 7714 | Leng YQ,Chen ZC,Zhang W,et al. Collision position sensing for manipulator using force/torque sensor[C]. 见:. Hangzhou, China. July 28-30, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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