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Collision Sensing Using ForceTorque Sensor
Joint Authors
Leng, Yuquan
Zhang, Yang
He, Xu
Zhang, Wei
Chen, Zheng-Cang
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-12-14
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
Collision sensing including collision position, collision direction, and force size could make robots smoothly interact with environment, so that the robots can strongly adapt to the outside world.
Skin sensor imitates principles of human skin using special material and physical structure to obtain collision information, but this method has some disadvantages, such as complex design, low sampling rate, and poor generality.
In this paper, a new method using force/torque sensor to calculate collision position, collision direction, and force size is proposed.
Detailed algorithm is elaborated based on physical principle and unified modeling method for basic geometric surface.
Gravity compensation and dynamic compensation are also introduced for working manipulators/robots in gravity and dynamic environment.
In addition, considering algorithm solvability and uniqueness, four constraints are proposed, which are force constraint, geometric constraint, normal vector constraint, and current mutation constraint.
In order to solve conflict solution of algorithm in redundant constraints, compatibility solution analysis is proposed.
Finally, a simulation experiment shows that the proposed method can achieve collision information efficiently and accurately.
American Psychological Association (APA)
Leng, Yuquan& Chen, Zheng-Cang& He, Xu& Zhang, Yang& Zhang, Wei. 2015. Collision Sensing Using ForceTorque Sensor. Journal of Sensors،Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1110551
Modern Language Association (MLA)
Leng, Yuquan…[et al.]. Collision Sensing Using ForceTorque Sensor. Journal of Sensors No. 2016 (2016), pp.1-10.
https://search.emarefa.net/detail/BIM-1110551
American Medical Association (AMA)
Leng, Yuquan& Chen, Zheng-Cang& He, Xu& Zhang, Yang& Zhang, Wei. Collision Sensing Using ForceTorque Sensor. Journal of Sensors. 2015. Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1110551
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1110551