Fuzzy impedance control based on a built-in torque sensor in harmonic drive gear

2017 ◽  
Author(s):  
Xiaowei Tan ◽  
Yong Jiang ◽  
Yifeng Song ◽  
Guowei Liu ◽  
Zhengguo Zhu
Keyword(s):  
Impedance Control ◽  
Harmonic Drive ◽  
Torque Sensor ◽  
Drive Gear

Performance of gain-tuned harmonic drive torque sensor under load and speed conditions

2001 ◽  
Vol 6 (2) ◽  
pp. 155-160 ◽  
Author(s):  
I. Godler ◽  
M. Hashimoto ◽  
M. Horiuchi ◽  
T. Ninomiya
Keyword(s):  
Harmonic Drive ◽  
Torque Sensor ◽  
Drive Torque

Cartesian Impedance Control for Space Robotic Arm Based on End Force/Torque Sensor

2012 ◽  
Vol 268-270 ◽  
pp. 1531-1537
Author(s):  
Xiao Xing Dong ◽  
Ge Li ◽  
Geng Feng Liu ◽  
Jie Zhao
Keyword(s):  
Force Feedback ◽  
Impedance Control ◽  
Dynamic Properties ◽  
Contact Forces ◽  
Robotic Arm ◽  
Torque Sensor ◽  
Redundant Manipulator ◽  
Control Effect ◽  
Impedance Parameters ◽  
Kinematic Solution

A Cartesian impedance control for a 7-DOF space robotic arm (SRA) based on the feedback from a 6-dimensional force/torque sensor on its end effecter is presented in this paper. The unavoidable position error of SRA would generate large contact forces during the connection between SRA’s end effecter (EE) and grapple fixture (GF). To control the contact force we used 6D force feedback to modify the desired trajectory controlling a PID position inner loop to make the manipulator exert desired impedance dynamic properties on its end-effecter. After optimization of impedance parameters in Simulink, this control strategy has significantly improved the force control effect in EE/GF connection experiment. Kinematic solution of the 7-DOF redundant manipulator is also provided.

scholarly journals Optical Torque Sensors for Local Impedance Control Realization of an Anthropomorphic Robot Arm

2006 ◽  
Vol 18 (2) ◽  
pp. 121-130 ◽  
Author(s):  
Dzmitry Tsetserukou ◽  
◽  
Riichiro Tadakuma ◽  
Hiroyuki Kajimoto ◽  
Susumu Tachi
Keyword(s):  
Strain Gauge ◽  
Impedance Control ◽  
Robot Arm ◽  
Torque Sensor ◽  
Optical Torque

We recently developed an optical torque sensor to replace expensive strain-gauge-based sensor on the anthropomorphic robot arm and realize local impedance control in individual joints.

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