Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Development of a 6-axis Robot's Finger Force/Moment Sensor for Stably Grasping an Unknown Object

미지물체를 안전하게 잡기 위한 6축 로봇손가락 힘/모멘트센서의 개발

  • 김갑순 (경상대학교 제어계측공학과)
  • Published : 2003.07.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously, for stably grasping an unknown object. In order to safely grasp an unknown object using the robot's gripper, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured forces. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed. and the result shows that interference errors of the developed sensor are less than 3%. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object was performed using it. The fabricated gripper could grasp an unknown object stably. Thus, the developed 6-axis robot's finger force/moment sensor may be used for robot's gripper.

Keywords

References

  1. Ceccarelli, M., et al., 'Grasp Forces in Two-finger: Modeling and Measuring,' Proceedings of $5^{th}$ International Workshop on Robotics in Alpe Adria-Danbube Region, pp. 321-326, 1996
  2. Castro, D., et al., 'Tactile Force Control Feedback in Parallel Jaw Gripper,' Proceedings of the IEEE International Symposium on Industrial Electronics, Vol. 3, V. 3, pp. 884-888, 1997 https://doi.org/10.1109/ISIE.1997.648836
  3. Nkgatho, S. T., et al., 'intelligent Gripper using Low Cost Industrial,' Proceedings of the IEEE International Symposium on Industrial Electronics, Vol.2, V. 2, pp. 415-419, 1998 https://doi.org/10.1109/ISIE.1998.711558
  4. Carlos, M. V, et al., 'BRF Competitive Hopfield Neural Networks for Objects Grasping,' Proceedings of the Fourth International Conference on Motion and Vibration Control, Vol. 3, V. 3, pp. 1171-1176, 1998
  5. Obrien, D. J., et al., 'Force Explicit Slip Sensing for the Amadeus underwater Gripper,' International Journal of Systems Science, Vol. 29 No. 5, pp. 471-483, 1998 https://doi.org/10.1080/00207729808929538
  6. Yabuki, A., 'Six-Axis Force/Torque Sensor for Assembly Robots,' FUJTSU Science Technology, Vol. 26, No. 1, pp. 41-47,1990
  7. Brussel, H. V, H. Belien, et al., 'Force Sensing for Advanced Robot Control,' North-Holland Robotics2, pp. 139-148, 1986
  8. Lee, J., 'Apply Force/Torque Sensors to Robotic Applications,' North-Holland Robotics2, pp. 139-148, 1987
  9. Kim, G. S., et al., 'Design and fabrication of a three-component force/moment sensor using plate-beam,' Meas. Sci. Technol., Vol. 10, pp. 295-301, 1999 https://doi.org/10.1088/0957-0233/10/4/005
  10. Kim, G. S., 'design of 3-component force/moment sensor with force/moment ratio of wide range,' Korean Society Precision Engineering, Vol. 18, No. 2, pp. 214-221,2001