Development of a whole-sensitive teleoperated robot arm using torque sensing technique

Dzmitry Tsetserukou, Riichiro Tadakuma, Hiroyuki Kajimoto, Naoki Kawakami, Susumu Tachi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

17 Citations (Scopus)

Abstract

In this paper, we concentrate on the design of a new whole-sensitive robot arm enabling torque measurement in each joint by means of developed optical torque sensors. When the contact of arm with an object occurs, local impedance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipulator can safely interact with unstructured environment. The detailed design procedure of the 4-DOF robot arm and optical torque sensors is described in the paper. The gravity compensation algorithm was elaborated and verified by implementation of the local impedance control of a simple two-link arm manipulator.

Original languageEnglish
Title of host publicationProceedings - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007
Pages476-481
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
Event2nd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007, WHC'07 - Tsukuba, Japan
Duration: 22 Mar 200724 Mar 2007

Publication series

NameProceedings - Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007

Conference

Conference2nd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2007, WHC'07
Country/TerritoryJapan
CityTsukuba
Period22/03/0724/03/07

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