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题名: Collision position sensing for manipulator using force/torque sensor
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); Zhou WJ(周维佳)
作者部门: 空间自动化技术研究室
会议名称: 34th Chinese Control Conference (CCC 2015)
会议日期: July 28-30, 2015
会议地点: Hangzhou, China
会议主办者: Hangzhou Dianzi University; Technical Committee on Control Theory (TCCT) of Chinese Association of Automation (CAA); The Society of Instr. and Contr. Engineers (SICE)
会议录: Proceedings of the 34th Chinese Control Conference
会议录出版者: IEEE Computer Society
会议录出版地: Washington, DC
出版日期: 2015
页码: 5809-5814
收录类别: EI ; CPCI(ISTP)
ISSN号: 1934-1768
ISBN号: 978-9-8815-6389-7
关键词: Collision Position ; Force/Torque Sensor ; Skin Sensor ; Manipulator
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.
语种: 英语
产权排序: 1
WOS记录号: WOS:000381007605076
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17220
Appears in Collections:空间自动化技术研究室_会议论文

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Recommended Citation:
Leng YQ,Chen ZC,Zhang W,et al. Collision position sensing for manipulator using force/torque sensor[C]. 见:34th Chinese Control Conference (CCC 2015). Hangzhou, China. July 28-30, 2015.
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