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Collision position sensing for manipulator using force/torque sensor
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)
会议录名称Proceedings of the 34th Chinese Control Conference
出版者IEEE Computer Society
出版地Washington, DC
2015
页码5809-5814
收录类别EI ; CPCI(ISTP)
EI收录号20154601538970
WOS记录号WOS:000381007605076
产权排序1
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
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17220
专题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
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GB/T 7714
Leng YQ,Chen ZC,Zhang W,et al. Collision position sensing for manipulator using force/torque sensor[C]//Hangzhou Dianzi University; Technical Committee on Control Theory (TCCT) of Chinese Association of Automation (CAA); The Society of Instr. and Contr. Engineers (SICE). Washington, DC:IEEE Computer Society,2015:5809-5814.
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