Research‎ > ‎Robot Arms‎ > ‎Robot manipulator‎ > ‎

Joint Torque Sensor


Low cost Force/Torque Sensor
  • Research Background
    • As robots are required to perform tasks involving contact with the environment, accurate sensing of the external load at the end-effector of manipulators is increasingly important.
  • Research Objectives
    • Low-cost F/T sensing system based on strain gauge
    • Automatic calibration algorithm for compensation of crosstalk error
    • Force control algorithm using the low-cost F/T sensing system
                

  • Calibration algorithm - Actual sensing frame method
    • Crosstalk calibration algorithm using coordinate frame transformation method
    • Coordinate transformation from nominal sensing frame to actual sensing frame
    • Nominal sensing frame: strain gauge is supposed to generate the force or torque components
    • Actual sensing frame: strain gauge actually generates the force or torque components.
  • Research Outputs
    • Low-cost F/T sensing system based on strain gauge
    • Automatic calibration algorithm for compensation of crosstalk error
    • Force control algorithm using the low-cost F/T sensing system
    • Sang-Hyuk Lee, Jung-Jun Park, Jae-Bok Song, Torque Sensor Calibration Using Virtual Load for a Manipulator, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2449-2454, 2007.10. 
    • 김영렬, 이상혁, 송재복, 좌표변환을 이용한 토크센서의 상호간섭 보정 (Crosstalk Calibration for a Torque Sensor using Coordinate Transformation), 한국정밀공학회 추계학술대회논문집, pp. 157-158, 2008.11.
    • 김영렬, 송재복, 힘평형을 이용한 상호간섭 보정 알고리즘 (Crosstalk Calibration Algorithm Using Force Balance), 한국지능로봇 종합학술대회 논문집, pp. 446-447, 2009.07.
    • Young-Loul Kim, Sang-Hyuk Lee, Jung-Jun Park, Jae-Bok Song, Torque Sensor Calibration using Actual Sensing Frame for a Manipulator, Proc. of the First Japan-Korea Int. Joint Symposium on Dynamics and Control, pp. 177-182, 2009.08.
    • Sang-Hyuk Lee, Young-Loul Kim, Jae-Bok Song, Torque Sensor Calibration Using Virtual Load for a Manipulator, International Journal of Precision Engineering and Manufacturing, Vol. 11, No. 2, pp. 219-225, 2010.04.
    • Young-Loul Kim, Jung-Jun Park, Jae-Bok Song, Crosstalk Calibration for a Torque Sensor Using Actual Sensing Frame, Journal of Mechanical Science and Technology, Vol. 24, No. 8, 1729-1735, 2010.08