International Conference on Mechanical Engineering and Technology (ICMET-London 2011)
100 Development of Intelligent Force Sensor System for Interactive Robot
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Interactive robot served as a sensor which could sense the environment, and also served as an actuator which could be manipulated in a safe manner at the same time. This paper presented a safety approach for the joint torque sensor based manipulator. Cartesian impedance control law was introduced so that the external force and the Cartesian position were interrelated. In this way, the manipulator could work as an external force sensor. When the estimated external force sensor feedback was input to the on-line trajectory regeneration, a novel online motion planning could be performed in a task-consistent manner, keeping the interaction force within acceptable tolerance. The proposed approach also proved that the manipulator was able to contact the environment compliantly, and reduce the instantaneous impact when collision occurs. To put the safety approach into practice, the Cartesian impedance control application to the manipulator, and rigorously guarantee the asymptotical stability of the entire system. Furthermore, adaptive dynamics joint controller was extended to all the joints for complementing the biggish friction. Experiment was performed on a 5-DOF flexible joint manipulator. The experiment results of tapping on a rubber, illustrate that the manipulator is a sensitive force sensor and a swift actuator.