International Journal of Control, Automation, and Systems

  • 제5권4호
  • /
  • Pages.419-428
  • /
  • 2007
  • /
  • 1598-6446(pISSN)
  • /
  • 2005-4092(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

Development of a Six-Axis Force/Moment Sensor with Rectangular Taper Beams for an Intelligent Robot

  • Kim, Gab-Soon (Department of Control and Instrumentation Engineering, Gyeongsang National University)
  • 발행 : 2007.08.31
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper describes the development of a six-axis force/moment sensor with rectangular taper beams for an intelligent robot's wrist and ankle. In order to accurately push and pull an object with an intelligent robot's hand, and in order to safely walk with an intelligent robot's foot, the robot's wrist and ankle should measure three forces Fx, Fy, and Fz, and three moments Mx, My, and Mz simultaneously from the mounted six-axis force/moment sensor to the intelligent robot's wrist and ankle. Unfortunately, the developed six-axis force/moment sensor utilized in other industrial fields is not proper for an intelligent robot's wrist and ankle in the size and the rated output of the six-axis force/moment sensor. In this paper, the structure of a six-axis force/moment sensor with rectangular taper beams was newly modeled for an intelligent robot's wrist and ankle, and the sensing elements were designed by using the derived equations, following which the six-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements. Moreover, the characteristic test of the developed sensor was carried out by using the six-component force/moment sensor testing machine. The rated outputs from the derived equations agree well with those from the experiments. The interference error of the sensor is less than 2.87%.

키워드

참고문헌

  1. A. Morales, P. J. Sanz, A. P. Pobil, and A. H. Fagg, 'Vision-based three-finger grasp synthesis constrained by hand geometry,' Robotics and Autonomous Systems, vol. 54, no. 6, pp. 496-512, 2006 https://doi.org/10.1016/j.robot.2006.01.002
  2. D. Osswald, J. Martin, C. Burghart, R. Mikut, H. Worn, and G. Bretthauer, 'Integrating a flexible anthropomorphic, robot hand into the control, system of a humanoid robot,' Robotics and Autonomous Systems, vol. 48, no. 4, pp. 213-221, 2004 https://doi.org/10.1016/j.robot.2004.07.005
  3. J. J. Steil, F. Rothling, R. Haschke, and H. Ritter, 'Situated robot learning for multi-modal instruction and imitation of grasping,' Robotics and Autonomous Systems, vol. 47, no. 2-3, pp. 129-141, 2004 https://doi.org/10.1016/j.robot.2004.03.007
  4. A. Chella, H. Dzindo, I. Infantino, and I. Macaluso, 'A posture sequence learning system for an anthropomorphic robotic hand,' Robotics and Autonomous Systems, vol. 47, no. 2-3, pp. 143-152, 2004 https://doi.org/10.1016/j.robot.2004.03.008
  5. H. Hirukawa, F. Kanehiro, K. Kaneko, S. Kajita, K. Fujiwara, Y. Kawai, F. Tomita, S. Hirai, K. Tanie, and T. Isozumi, 'Humanoid robotics platforms developed in HRP,' Robotics and Autonomous Systems, vol. 48, no. 4, pp. 165-175, 2004 https://doi.org/10.1016/j.robot.2004.07.007
  6. S. Kagami, M. Mochimaru, Y. Ehara, N. Miyata, K. Nishiwaki, T. Kanade, and H. Inoue, 'Measurement and comparison of humanoid H7 walking with human being,' Robotics and Autonomous Systems, vol. 48, no. 4, pp. 177-187, 2004 https://doi.org/10.1016/j.robot.2004.07.006
  7. Y. Ogura, S. Ando, H. O. Lim, and A. Takanishi, 'Sensory-based walking motion instruction for biped humanoid robot,' Robotics and Autonomous Systems, vol. 48, no. 4, pp. 223-230, 2004 https://doi.org/10.1016/j.robot.2004.07.002
  8. J. F. Seara and G. Schmidt, 'Intelligent gaze control for vision-guided humanoid walking: Methodological aspects,' Robotics and Autonomous Systems, vol. 48, no. 4, pp. 231-248, 2004 https://doi.org/10.1016/j.robot.2004.07.003
  9. G. S. Kim and H. D. Lee, 'Development of a six-axis force/moment sensor and its control system for an intelligent robot's gripper,' Measurement Science and Technology, vol. 14, pp. 1265-1274, 2003 https://doi.org/10.1088/0957-0233/14/8/311
  10. G. S. Kim, 'Development of a small six-axis force/moment sensor for robot's fingers,' Measurement Science and Technology, vol. 15, pp. 2233-2238, 2004 https://doi.org/10.1088/0957-0233/15/11/008
  11. G. S. Kim and J. J. Park, 'Development of the six-axis force/moment sensor for an intelligent robot's gripper,' Sensors and Actuators, vol. 118, pp. 127-134, 2005 https://doi.org/10.1016/S0924-4247(04)00538-2
  12. ATI Industrial Automation, 'Multi-axis force/torque sensor,' ATI Industrial Automation, pp. 4-45, 2005
  13. G.-S. Kim, 'The development of a six-component force/moment sensor testing machine and evaluation of its uncertainty,' Measurement Science and Technology, vol. 11, pp. 1377-1382, 2000 https://doi.org/10.1088/0957-0233/11/9/318