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首页> 外文会议>2012 9th International Conference on Ubiquitous Robots and Ambient Intelligence. >Design of joint torque sensor and joint structure of a robot arm to minimize crosstalk and torque ripple
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Design of joint torque sensor and joint structure of a robot arm to minimize crosstalk and torque ripple

机译：设计关节扭矩传感器和机器人手臂的关节结构，以最大程度地减少串扰和扭矩波动

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摘要

Torque control of a robot arm often requires joint torques which are measured using joint torque sensors. However, a joint torque sensor installed at a robot joint suffers from crosstalk errors and torque ripple. The crosstalk error generated by a moment load induces an offset to the torque sensor output. Furthermore, torque ripple noise generated by a harmonic drive interferes with accurate torque measurement as its amplitude is much higher than electric noise. In this study, novel methods are proposed to reduce crosstalk and torque ripple. The crosstalk is dealt with by specially designing the structure of a robot joint. Torque ripple is reduced by taking an average of two Wheatstone bridges outputs. The performance of the proposed robot joint was verified through various experiments.
机译：机器人手臂的扭矩控制通常需要使用关节扭矩传感器测量的关节扭矩。但是，安装在机器人关节处的关节扭矩传感器会受到串扰误差和扭矩波动的影响。力矩负载产生的串扰误差会导致扭矩传感器输出产生偏移。此外，由谐波驱动器产生的转矩波动噪声会干扰振幅的精确测量，因为其幅度远高于电噪声。在这项研究中，提出了减少串扰和转矩脉动的新方法。通过专门设计机器人关节的结构来处理串扰。取平均两个惠斯通电桥输出，可减少转矩脉动。通过各种实验验证了提出的机器人关节的性能。

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