Development of a torque sensing robot arm for interactive communication

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication

Volumn , Issue , 2002, Pages 344-349

  Hashimoto, Minoru ^a   Hattori, Tsuyoshi ^a   Horiuch, Masashi ^b   Kamata, Toshiaki ^b  

^a SHINSHU UNIVERSITY   (Japan)

^b Harmonic Drive Systems Inc ^*  (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ANTHROPOMORPHIC ROBOT ARM; HARMONIC DRIVE GEARINGS; HARMONIC DRIVE GEARS; INTERACTIVE COMMUNICATIONS; JOINT TORQUE SENSING; JOINT TORQUE SENSORS; MECHANICAL STRUCTURES; SENSING TECHNIQUES;

COMMUNICATION; FLEXIBLE STRUCTURES; GEAR TEETH; ROBOT LEARNING; ROBOTIC ARMS; SENSORS;

TORQUE;

EID: 84881114352     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROMAN.2002.1045646     Document Type: Conference Paper

References (9)

1. M. Hashimoto: "Robot Motion Control Based on Joint Torque Sensing," Proc, of the 1989 IEEE Int Conf. on Robotics and Automation, Scottedale, AZ, pp.256-261, May, 1989.
2. M. Hashimoto, Y. Kiyosawa and R.P. Paul: "A Torque Sensing Technique for Robots with Harmonic Drives", IEEE Transaction on Robotics and Automation, vol. 9, no. 1, pp. 108-116, 1993.
3. I. Godler, M. Horiuchi, M. Hashimoto, and T. Ninomiya: "Accuracy Improvement of Built-in Torque Sensning for Harmonic Drives," Trans. on Mechatronics, Vol.5, No.4, pp.360-366, 2000.
4. M. Hashimoto, T. Ishizuka, I Godler, and M. Horiuchi: "Velocity Dependence of the Characteristics of armonic Drive Built-in Torque Sensning," Proc. of the 2000 IEEE intematinal Conference on Robotics Automation, San Francisco, pp.1334-1339, 2000.
5. I. Godler, M. Hashimoto, M. Horiuchi, and T. Ninomiya: "Performance of Gain-Tuned Harmonic Drive Torque Sensor Under Load and Speed Conditions," Trans. on Mechatronics, Vol.6, No.2, pp.155-160, 2001.
6. M. Hashimoto and Y. Kiyosawa: "Experimental Study on Torque Control Using Harmonic Drive Built-in Touque Sensors," Journal of Robotics Systems, Vol.15(8), pp.435-545, 1998.
7. H.D. Taghirad and P.R. Belanger. Intelligent Torque Sensing and Robust Torque Control of Harmonic Drive Under Free-Motion, Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, pp.1749-1754, 1997.
8. P.J. Baines and J.K. Milles: "Feedback Linearized Joint Torque Control of a Geared, DC Motor Driven Industrial Robot," International Journal of Robotics Research, Vol.17, No.2, pp. 169-192, 1998.
9. DLR lightweight arm, http://www.robotic.de/mechatronics/lbr/eng-index. html