대한기계학회논문집A (Transactions of the Korean Society of Mechanical Engineers A)

  • 제25권2호
  • /
  • Pages.192-197
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  • 2001
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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3차원 공간상에서 로봇 매니퓰레이터의 접촉힘 추정

Contact Force Estimation of Robot Manipulators in 3-D Space

  • 이중욱 (한양대학교 대학원 정밀기계공학과) ;
  • 허건수 (한양대학교 기계공학부)
  • 발행 : 2001.02.01
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초록

Recent requirements for the fast and accurate motion in industrial robot manipulators need more advanced control techniques. To satisfy the requirements, importance of the force control is being continuously increased and the expensive force sensor is often installed to obtain the contact force information in practice. This information is indispensable for the force control of maintaining the desired contact force. However, the sensor cost is too high to be used in industrial applications. In this paper, it is proposed to estimate the contact force occurred between the end-effector of robots and environment in 3-D. The contact force monitoring system is developed based on the static and dynamic models of 3 DOF robot manipulators, where the contact force is described with respect to the link torque. The Extended Kalman Filter is designed and its performance is verified in simulations.

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참고문헌

  1. Kaneko, K., Ohnishi, K. and Komoriya, K., 1994, 'Design Method for Manipulator Control Based on Disturbance Observer,' Proceedings of IEEE Int. Con. On Intelligent Robots and System, Vol. 2, pp. 1405-1412
  2. Eom, K.S., Suh, I.H., Chung, W.K. and Oh, S.R., 1998, 'Disturbance Observer Based Force Control of Robot Manipulator Without Force Sensor,' Proceedings of IEEE int. Con. on Robotics and Automation, Vol. 4, pp. 3012-3017
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  6. 허건수, 이중욱, 2000, '확장된 칼만필터를 이용한 2 축 로봇 매니퓰레이터의 접촉힘 추정,' 한국공작기계학회, 추계학술대회논문집, pp. 14-19
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