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http://dx.doi.org/10.7746/jkros.2019.14.4.311

Cartesian Space Direct Teaching for Intuitive Teaching of a Sensorless Collaborative Robot  

Ahn, Kuk-Hyun (Mechanical Engineering, Korea University)
Song, Jae-Bok (Mechanical Engineering, Korea University)
Publication Information
The Journal of Korea Robotics Society / v.14, no.4, 2019 , pp. 311-317 More about this Journal
Abstract
Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.
Keywords
Collaborative Robot; Impedance Control; Human-Robot Interaction;
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