Joint Space Torque Controller Based on Time-Delay Control with Collision Detection

Title
Joint Space Torque Controller Based on Time-Delay Control with Collision Detection
Authors
허성문오상록오용환
Keywords
Torque control; Time-delay control; Collision detection; Safe motion
Issue Date
2014-09
Publisher
IROS (IEEE/RSJ International Conference on Intelligent Robots and Systems)
Citation
, 4710-4715
Abstract
This paper addresses a control method for friction-existing robot manipulators and safe motion with its environment. In order to control the robot manipulator with unknown effects, a time-delay control(TDC) method that eliminates the nonlinear effects is used to control the joint torque servo. Although the TDC is very adaptive in nonlinear systems, there is limitation of the TDC in a high friction robot manipulator; hence, a friction model is considered. A collision detecting method is proposed to secure safety for human and robot-interacting environment. Using the torque sensor attached at the joints of the robot arm, the collision is detected more effectively. After detecting collision, a safety reaction method is applied. A torque sensor based 3-joints robot arm is used to verify the performance of the proposed methods.
URI
http://pubs.kist.re.kr/handle/201004/48421
Appears in Collections:
KIST Publication > Conference Paper
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