Using a compliant wrist for a teleoperated robot

Choi, Seungjoon; Choi, Yong Je; Kim, Seung‐Ho

doi:10.1109/iros.1999.813067

Cited by 5 publications

(3 citation statements)

References 4 publications

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“…The limited thickness of the compliant layer however provided only a very limited range of movement and therefore limited the applications of the device. A compliant wrist designed to suit tele-operated robot applications was introduced in [ 22 ]. The device, inspired by the Stewart platform concept, supported six degrees of freedom (DOF) through the use of linear compression springs in place of actuators.…”

Section: Literature Reviewmentioning

confidence: 99%

Instrumented Compliant Wrist with Proximity and Contact Sensing for Close Robot Interaction Control

Laferrière

Payeur

2017

Sensors

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Compliance has been exploited in various forms in robotic systems to allow rigid mechanisms to come into contact with fragile objects, or with complex shapes that cannot be accurately modeled. Force feedback control has been the classical approach for providing compliance in robotic systems. However, by integrating other forms of instrumentation with compliance into a single device, it is possible to extend close monitoring of nearby objects before and after contact occurs. As a result, safer and smoother robot control can be achieved both while approaching and while touching surfaces. This paper presents the design and extensive experimental evaluation of a versatile, lightweight, and low-cost instrumented compliant wrist mechanism which can be mounted on any rigid robotic manipulator in order to introduce a layer of compliance while providing the controller with extra sensing signals during close interaction with an object’s surface. Arrays of embedded range sensors provide real-time measurements on the position and orientation of surfaces, either located in proximity or in contact with the robot’s end-effector, which permits close guidance of its operation. Calibration procedures are formulated to overcome inter-sensor variability and achieve the highest available resolution. A versatile solution is created by embedding all signal processing, while wireless transmission connects the device to any industrial robot’s controller to support path control. Experimental work demonstrates the device’s physical compliance as well as the stability and accuracy of the device outputs. Primary applications of the proposed instrumented compliant wrist include smooth surface following in manufacturing, inspection, and safe human-robot interaction.

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Section: Literature Reviewmentioning

confidence: 99%

Instrumented Compliant Wrist with Proximity and Contact Sensing for Close Robot Interaction Control

Laferrière

Payeur

2017

Sensors

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“…위 치센서를 이용하여 힘/토크 측정기능을 갖는 순응기구 설계연구 [6,7] 및 퍼지논리를 이용하여 동시제어를 안정화하는 방법 [8] 도 제시되 었다. 그러나 순응기구를 이용한 동시제어에 대한 연구 및 실험 결 과는 매우 제한적이다 [5,9] .…”

Section: 서 론unclassified

Kinestatic Control using Six-axis Parallel-type Compliant Device

Kim¹

2014

Journal of the Korean Society of Manufacturing Technology Engin

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Article history:In this paper, the kinestatic control algorithm using a six-axis compliant device is presented. Unlike the traditional control methods using a force/torque sensor with very limited compliance, this method employs a compliant device to provide sufficient compliance between an industrial robot and a rigid environment. This kinestatic control method is used to simply control the position of an industrial robot with twists of compensation, which can be decomposed into twists of compliance and twists of freedom. A simple design method of a six-axis parallel-type compliant device with a diagonal stiffness matrix is presented. A compliant device prototype and kinestatic control hardware system and programming were developed. The effectiveness of the kinestatic control algorithm was verified through two kinds of kinestatic control experiments. . 유사한 방법으로 RCC(Remote-Center-of-Compliance) 메 커니즘 [3] 을 사용하는 동시제어 방법은 작업이 순응중심 근처에서 이루어져야 한다는 한계를 갖는다. Griffis와 Duffy

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“…In Korea, Choi et al proposed the use of a passive compliant Stewart platform to accurately measure both position and force on each member of the platform [2]. Linear springs with encoders were placed in place of active pistons to determine the position and forces on the master robot to be mimicked by the slave.…”

Section: Introductionmentioning

confidence: 99%

Smart Tendon Actuated Flexible Actuator

Billah

Khan

2015

Journal of Robotics

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We investigate the kinematic feasibility of a tendon-based flexible parallel platform actuator. Much of the research on tendon-driven Stewart platforms is devoted either to the completely restrained positioning mechanism (CRPM) or to one particular type of the incompletely restrained positioning mechanism (IRPM) where the external force is provided by the gravitational pull on the platform such as in cable-suspended Stewart platforms. An IRPM-based platform is proposed which uses the external force provided by a compliant member. The compliant central column allows the configuration to achievenDOFs withntendons. In particular, this investigation focuses on the angular deflection of the upper platform with respect to the lower platform. The application here is aimed at developing a linkable module that can be connected to one another so as to form a “snake robot” of sorts. Since locomotion takes precedence over positioning in this application, a 3-DOF Stewart platform is adopted. For an arbitrary angular displace of the end-effector, the corresponding length of each tendon can be determined through inverse kinematics. Mathematical singularities are investigated using the traditional analytical method of defining the Jacobian.

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Using a compliant wrist for a teleoperated robot

Cited by 5 publications

References 4 publications

Instrumented Compliant Wrist with Proximity and Contact Sensing for Close Robot Interaction Control

Instrumented Compliant Wrist with Proximity and Contact Sensing for Close Robot Interaction Control

Kinestatic Control using Six-axis Parallel-type Compliant Device

Smart Tendon Actuated Flexible Actuator

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