지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.3
- 수록면
- 218 - 222 (5page)
이용수
초록· 키워드
오류제보하기
This paper proposes a signle-joint optical toqrue sensor with one body structure. Conventional optical torque sensors consist of three parts, two plates and an elastic structure. They have slightly slipping problem between plates and elastic structure due to the manufacturing tolerance. Since the order of measurement range of optical sensor is about ten micrometers, the slipping problem causes large measurement error, especially in the case of vibrational or high speed plant. This problem does not occur in the proposed design due to the one body structure. The proposed sensor has advantage of low cost, light weight, and small size. And it is easy to design and manufacture. Simulation sorks that analysis of stress and strain are performed accurately. To demonstrate the performance of proposed sensor, experiments were implemented to compare with a commerical force/torque sensor(ATI Mini45).
목차
Abstract
Ⅰ. 서론
Ⅱ. 센서 구조 설계
Ⅲ. 센서 교정 및 결과
Ⅳ. 결론 및 추후 과제
참고문헌
참고문헌 (9)
참고문헌 신청
1. [학술지(정기간행물)] - D. E. Whitney / 1987 / Historical perspective and state of the art in robot force control / The International Journal of Robotics Research 6 (1) : 3 ~ 14
2. [학술대회논문] - N. Horgan / 1984 / Impedance control: An approach to manipulation / Proc. of American Control Conference, San Diego, CA, USA : 304 ~ 313
3. [학술대회논문] - T. Wimbock / 2007 / Impedance behaviors for two-handed manipulation: Design and experiments / Proc. of IEEE International Conference on Robotics and Automation, Roma, Italy : 4182 ~ 4189
4. [학술대회논문] - 오준호 / 2005 / Mechanical design of humanoid robot platform KHR-3 (KAIST humanoid robot - 3: HUBO) / 2005 5th IEEE-RAS International Conference on Humanoid Robots : 321 ~ 326
5. [학술지(정기간행물)] - D. Vischer / 1995 / Design and development of highperformance torque-controlled joints / IEEE Transactions on Robotics and Automation 11 (4) : 537 ~ 544
2. [학술대회논문] - N. Horgan / 1984 / Impedance control: An approach to manipulation / Proc. of American Control Conference, San Diego, CA, USA : 304 ~ 313
3. [학술대회논문] - T. Wimbock / 2007 / Impedance behaviors for two-handed manipulation: Design and experiments / Proc. of IEEE International Conference on Robotics and Automation, Roma, Italy : 4182 ~ 4189
4. [학술대회논문] - 오준호 / 2005 / Mechanical design of humanoid robot platform KHR-3 (KAIST humanoid robot - 3: HUBO) / 2005 5th IEEE-RAS International Conference on Humanoid Robots : 321 ~ 326
5. [학술지(정기간행물)] - D. Vischer / 1995 / Design and development of highperformance torque-controlled joints / IEEE Transactions on Robotics and Automation 11 (4) : 537 ~ 544
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UCI(KEPA) : I410-ECN-0101-2013-569-003244589