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Collision Sensing Using Force/Torque Sensor
Leng YQ(冷雨泉); Chen ZC(陈正仓); He X(何旭); Zhang Y(张阳); Zhang W(张伟)
作者部门空间自动化技术研究室
发表期刊Journal of Sensors
ISSN1687-725X
2016
卷号2016页码:1-10
收录类别SCI ; EI
EI收录号20160301808782
WOS记录号WOS:000369294600001
产权排序1
资助机构National Postdoctoral Foundation of China under Grant 2013M541258, State Key Laboratory of Robotics (2015-Z08).
摘要

Collision sensing including collision position, collision direction, and force size could make robots smoothly interact with environment, so that the robots can strongly adapt to the outside world. Skin sensor imitates principles of human skin using special material and physical structure to obtain collision information, but this method has some disadvantages, such as complex design, low sampling rate, and poor generality. In this paper, a new method using force/torque sensor to calculate collision position, collision direction, and force size is proposed. Detailed algorithm is elaborated based on physical principle and unified modeling method for basic geometric surface. Gravity compensation and dynamic compensation are also introduced for working manipulators/robots in gravity and dynamic environment. In addition, considering algorithm solvability and uniqueness, four constraints are proposed, which are force constraint, geometric constraint, normal vector constraint, and current mutation constraint. In order to solve conflict solution of algorithm in redundant constraints, compatibility solution analysis is proposed. Finally, a simulation experiment shows that the proposed method can achieve collision information efficiently and accurately.

语种英语
WOS标题词Science & Technology ; Technology
WOS类目Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS研究方向Engineering ; Instruments & Instrumentation
引用统计
被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/17543
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 & Systems, State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China
2.University of Chinese Academy of Science, Beijing, China
推荐引用方式
GB/T 7714
Leng YQ,Chen ZC,He X,et al. Collision Sensing Using Force/Torque Sensor[J]. Journal of Sensors,2016,2016:1-10.
APA Leng YQ,Chen ZC,He X,Zhang Y,&Zhang W.(2016).Collision Sensing Using Force/Torque Sensor.Journal of Sensors,2016,1-10.
MLA Leng YQ,et al."Collision Sensing Using Force/Torque Sensor".Journal of Sensors 2016(2016):1-10.
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