Disturbance Elimination for the Modular Joint Torque Sensor of a Collaborative Robot
Joint Authors
Zhao, Jie
Zhang, He
Qin, Wenlei
Gao, Yongsheng
Li, Qiang
Chen, Zhigang
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-10-20
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
The ability to obtain accurate torque information and detect collision information is the key demand for collaborative robots.
Given the highly integrated modular joint, the joint torque-sensing system is disturbed by other elements during online measurement, affecting the accuracy of measurement.
For example, the torque ripple caused by the periodic deformation of the flexspline of the harmonic driver and the temperature drift due to the heating of motor are the two main factors affecting the measurement of the torque sensor.
In this study, a torque sensor suitable for a modular joint is developed.
Moreover, a strain gauge configuration based on a specified phase difference for torque ripple cancelation and a temperature compensation method based on the combination of the Wheatstone bridge and a nonlinear model are proposed.
Finally, the performance of the developed sensor is experimentally evaluated.
American Psychological Association (APA)
Zhang, He& Qin, Wenlei& Gao, Yongsheng& Li, Qiang& Chen, Zhigang& Zhao, Jie. 2020. Disturbance Elimination for the Modular Joint Torque Sensor of a Collaborative Robot. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1193813
Modern Language Association (MLA)
Zhang, He…[et al.]. Disturbance Elimination for the Modular Joint Torque Sensor of a Collaborative Robot. Mathematical Problems in Engineering No. 2020 (2020), pp.1-14.
https://search.emarefa.net/detail/BIM-1193813
American Medical Association (AMA)
Zhang, He& Qin, Wenlei& Gao, Yongsheng& Li, Qiang& Chen, Zhigang& Zhao, Jie. Disturbance Elimination for the Modular Joint Torque Sensor of a Collaborative Robot. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-14.
https://search.emarefa.net/detail/BIM-1193813
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1193813