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http://dx.doi.org/10.21289/KSIC.2019.22.3.315

Development of a 6-axis Robotic Base Platform with Force/Moment Sensing  

Jung, Sung Hun (Dept, of Mechanical Convergence Engineering, Kyungnam University)
Kim, Han Sung (Dept, of Mechanical Engineering, Kyungnam University)
Publication Information
Journal of the Korean Society of Industry Convergence / v.22, no.3, 2019 , pp. 315-324 More about this Journal
Abstract
This paper present a novel 6-axis robotic base platform with force/moment sensing. The robotic base platform is made up of six loadcells connecting the moving plate to the fixed plate by spherical joints at the both ends of loadcells. The statics relation is derived, the robotic base platform prototype and the loadcell measurement system are developed. The force/moment calibrations in joint and Cartesian spaces are performed. The algorithm to detect external force applied at a working robot is derived, and using a 6-DOF robot mounted on the robotic base platform, force/moment measurement experiments have been performed.
Keywords
Position/force control; Cooperative robot; Gough-Stewart platform; Loadcell; Strain gauge; F/T sensor; Industrial robot; Collision detection;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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