Force control of the five-link robot using wrist force sensor

손목힘 센서를 이용한 5축 로봇의 힘제어

In this paper, we present a force control of a five-axes robot, using an impedance model. Tasks such as assembly, grinding, and deburring, which involve extensive contact with the environment, are better handled by controlling the forces of interaction between the manipulator and the environment. The five-link articulated robot is equipped with a wrist force sensor which consists of an array of strain gauges and can delineate the three components of the vector force along the three axes of the sensor coordinate frame, and the three components of the torque about these axes. For the precise control of the contact force, impedance models of a robot and the environment are defined. Experimental results are shown.