센서리스 협동로봇의 직관적인 교시를 위한 직교공간 직접교시
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 안국현 | - |
dc.contributor.author | 송재복 | - |
dc.date.accessioned | 2021-09-02T00:34:37Z | - |
dc.date.available | 2021-09-02T00:34:37Z | - |
dc.date.created | 2021-06-17 | - |
dc.date.issued | 2019 | - |
dc.identifier.issn | 1975-6291 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/70235 | - |
dc.description.abstract | Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors. | - |
dc.language | Korean | - |
dc.language.iso | ko | - |
dc.publisher | 한국로봇학회 | - |
dc.title | 센서리스 협동로봇의 직관적인 교시를 위한 직교공간 직접교시 | - |
dc.title.alternative | Cartesian Space Direct Teaching for Intuitive Teaching of a Sensorless Collaborative Robot | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | 송재복 | - |
dc.identifier.doi | 10.7746/jkros.2019.14.4.311 | - |
dc.identifier.bibliographicCitation | 로봇학회 논문지, v.14, no.4, pp.311 - 317 | - |
dc.relation.isPartOf | 로봇학회 논문지 | - |
dc.citation.title | 로봇학회 논문지 | - |
dc.citation.volume | 14 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 311 | - |
dc.citation.endPage | 317 | - |
dc.type.rims | ART | - |
dc.identifier.kciid | ART002525015 | - |
dc.description.journalClass | 2 | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordAuthor | Collaborative Robot | - |
dc.subject.keywordAuthor | Impedance Control | - |
dc.subject.keywordAuthor | Human-Robot Interaction | - |
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