Hur, Sung-moon Oh, Sang-Rok Oh, Yonghwan 2024-01-19T12:08:34Z 2024-01-19T12:08:34Z 2022-03-07 2014 2153-0858 https://pubs.kist.re.kr/handle/201004/115382 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. English IEEE Joint Space Torque Controller Based on Time-Delay Control with Collision Detection Conference 1 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.4710 - 4715 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 4710 4715 US Chicago, IL 2014-09-14 2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014) 000349834604123 2-s2.0-84911478689 Proceedings Paper