Development of a Virtual Force Sensor for a Low-Cost Collaborative Robot and Applications to Safety Control.

ABSTRACT: To protect operators and conform to safety standards for human-machine interactions, the design of collaborative robot arms often incorporates flexible mechanisms and force sensors to detect and absorb external impact forces. However, this approach increases production costs, making the introduction of such robot arms into low-cost service applications difficult. This study proposes a low-cost, sensorless rigid robot arm design that employs a virtual force sensor and stiffness control to enable the safety collision detection and low-precision force control of robot arms. In this design, when a robot arm is subjected to an external force while in motion, the contact force observer estimates the external torques on each joint according to the motor electric current and calculation errors of

SUBMITTER: Yen SH 

PROVIDER: S-EPMC6612363 | biostudies-literature | 2019 Jun

REPOSITORIES: biostudies-literature