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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Byung-jin Jung Byoung Chul Kim Seonggi Kim JaChoon Koo Hyouk Ryeol Choi Hyungpil Moon |
| Copyright Year | 2014 |
| Description | Author affiliation: Mech. Eng., Sungkyunkwan Univ., Suwon, South Korea (Byung-jin Jung; Byoung Chul Kim; Seonggi Kim; JaChoon Koo; Hyouk Ryeol Choi; Hyungpil Moon) |
| Abstract | The main contribution of this work is an algorithmic compensation of joint torque ripple signals in harmonic drive for joint torque sensing from measuring the deformation of flex spline in the harmonic drive. When an external force is applied to a robot, the flex spline of harmonic drive undergoes an elastic deformation. However, such a deformation is not easy to measure by strain gauges on the flex spline because whose signals are corrupted by a periodic vibration which is “torque ripple” caused by reducing operation of the harmonic drive. We perform order analysis and design a filter to eliminate the torque ripple without using many strain gauges. As the order sampling normalizes the frequency characteristic, our method outperforms the filters with fixed cutoff frequency with manageable computational expense. Moreover, the effect of misalignment of the strain gauges is minimum unlike other methods. The experimental evaluation is provided using a robotic manipulator which has the proposed harmonic drive joint torque sensor. |
| Starting Page | 1932 |
| Ending Page | 1935 |
| File Size | 1442068 |
| Page Count | 4 |
| File Format | |
| ISBN | 9781479901623 |
| DOI | 10.1109/ICSENS.2014.6985409 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2014-11-02 |
| Publisher Place | Spain |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Torque Harmonic analysis Robot sensing systems Power harmonic filters Joints Strain Bridge circuits Order analysis Torque Ripple Joint torque sensing Harmonic drive deformation |
| Content Type | Text |
| Resource Type | Article |
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