Development of an optical type torque sensor and application to impedance control = 광학 방식 토크 센서의 개발과 임피던스 제어 응용

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This thesis describes to design an optical torque sensor and analyze its influences on impedance controller. Impedance control adjusts dynamic interaction between manipulator and environment, which provides a robot compliance. Capacitive type or optical type torque sensors have been adopted for force control recently since strain gauge-based torque sensor have bonding and wiring problems. These sensors could measure rough torque signal exerted by unexpected environment that surrounds a robot, which would affect the control quality. To analyze the control performance on sensor types, we developed a novel optical type torque sensor and implemented impedance control. The proposed torque sensor is designed to measure up to 30Nm and have two optical chips symmetrically in order to decouple undesired load components, which shows lower interference rate than the commercial optical torque sensor. Static calibration and dynamic test were conducted. Finally, the control performance indices were compared between strain gauge type and proposed sensor with frequency. The results imply that the robot could provide ensuring safety by using optical torque sensor instead of strain-gauge torque sensor.
Advisors
Kim, Jungresearcher김정researcher
Description
한국과학기술원 :기계공학과,
Publisher
한국과학기술원
Issue Date
2017
Identifier
325007
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 기계공학과, 2017.2,[vi, 45 p. :]

Keywords

optical type torque sensor; strain gauge type torque sensor; interference rate; control performance indices; frequency; 광학 방식 토크 센서; 스트레인 게이지 방식 토크 센서; 간섭률; 제어 성능 지표; 주파수

URI
http://hdl.handle.net/10203/242858
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=675123&flag=dissertation
Appears in Collection
ME-Theses_Master(석사논문)
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