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http://dx.doi.org/10.21289/KSIC.2018.21.2.63

Design of a 6-axis Compliance Device with F/T Sensing for Position/Force Control  

Kim, Han Sung (Dept. of Mechanical Engineering, Kyungnam University)
Publication Information
Journal of the Korean Society of Industry Convergence / v.21, no.2, 2018 , pp. 63-70 More about this Journal
Abstract
In this paper, the design of a novel 6-axis compliance device with force/torque sensing capability and the experiment results on force measurement are presented. Unlike the traditional control methods using a force/torque sensor with very limited compliance, the force control method employs a compliant device to provide sufficient compliance between an industrial robot and a rigid environment for more stable force control. The proposed compliance device is designed to have a diagonal stiffness matrix at the tip and uses strain gauge measurement which is robust to dust and oil. The measurement circuit is designed with low-cost IC chips however the force resolution is 0.04N.
Keywords
Position/force control; Compliant device; Stiffness matrix; Strain gauge; F/T sensor; Industrial robot;
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