標題: A Novel 6-DOF Force/Torque Sensor for COBOTs and its Calibration Method
作者: Tan-Phat Phan
Chao, Paul C. -P.
Cai, Jia-Jun
Wang, Yu-Jen
Wang, Sheng-Ching
Wong, Kyle
電子工程學系及電子研究所
Department of Electronics Engineering and Institute of Electronics
關鍵字: Force/Torque Sensor;maximum likelihood estimation (MLE);Collaborative Robots (Cobots);Anti-Collision
公開日期: 1-Jan-2018
摘要: This paper intends to design a 6-DOF force/torque sensor along with its readout circuit for collaborative robots (Cobots) working environment. There are two major technologies to develop by this paper. The first technology is the capability of sensing contact forces and torques by a newly-designed six degrees-of-freedom (DOF) force/torque sensor at a fast speed to facilitate feedback control towards anti-collision for the Cobots with wide measurement range, precision, with a smaller size and lower costs. For the force/torque sensor structure, the finite element method (FEM) is established. The sensor is designed and optimized based on finite element analysis (FEA) while " maximum likelihood estimation (MLE)" is utilized to increase accuracy in estimation of force/torque by using appropriate statistical model. The second technology is the anti-collision control. If the collision occurs, the Cobot has an ability to response safely and instantaneously. The proposed control scheme and assisting 6-DOF sensor are capable of performing Cobots anti-collision in welding, grinding, polishing, assembling, etc. with high precision.
URI: http://hdl.handle.net/11536/146234
期刊: PROCEEDINGS OF 4TH IEEE INTERNATIONAL CONFERENCE ON APPLIED SYSTEM INNOVATION 2018 ( IEEE ICASI 2018 )
起始頁: 1228
結束頁: 1231
Appears in Collections:Conferences Paper