대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

조립용 로보트의 힘.토오크 센서 및 컴플라이언스 알고리즘의 개발

Development of Force/Torque Sensor and Compliance Algorithm for Assembly Robots

  • 고낙용 (서울대학교 제어계측공학과, 로보트.지능시스템 연구실) ;
  • 고명삼 (서울대학교 제어계측공학과, 로보트.지능시스템 연구실) ;
  • 하인중 (서울대학교 제어계측공학과, 로보트.지능시스템 연구실) ;
  • 이범희 (서울대학교 제어계측공학과, 로보트.지능시스템 연구실)
  • Ko, Nak-Yong (Dept. of Control & Instrumentation Engineering, Robotics & Intelligent Systems Lab. Seoul National University) ;
  • Ko, Myoung-Sam (Dept. of Control & Instrumentation Engineering, Robotics & Intelligent Systems Lab. Seoul National University) ;
  • Ha, In-Joong (Dept. of Control & Instrumentation Engineering, Robotics & Intelligent Systems Lab. Seoul National University) ;
  • Lee, Bum-Hee (Dept. of Control & Instrumentation Engineering, Robotics & Intelligent Systems Lab. Seoul National University)
  • 발행 : 1987.07.03
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초록

The force/torque sensor for robot is developed. The compliance algorithm for peg-in-hole insertion task using the forec/troque sensor is developed. The system consists of an IBM PC, robot, force/torque sensor, strain meter, A/D board, and interface board. The IBM PC functions as a main processor and the robot controller as a slave processor. The sensor is constructed to measure $T_x$, $T_y$, $F_z$ which are necessary to precisely execute a peg-in-hole insertion task by SCARA type assembly robot. The outputs of sensor are analyzed. On the basis of the analysis, compliance algorithm for peg-in-hole insertion task is developed. Some comments concerning the development of wrist force/torque sensor and compliance algorithm are given.

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