A novel 6-DOF force/torque sensor for COBOTs and its calibration method

Tan Phat Phan; Paul C.-P. Chao; Jia Jun Cai; Yu Jen Wang; Sheng Ching Wang; Kyle Wong

doi:10.1109/ICASI.2018.8394511

A novel 6-DOF force/torque sensor for COBOTs and its calibration method

Tan Phat Phan, Paul C.-P. Chao, Jia Jun Cai, Yu Jen Wang, Sheng Ching Wang, Kyle Wong

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

13 Scopus citations

Abstract

This paper intends to design a 6-DOF force/torque sensor along with its readout circuit for collaborative robots (Cobots) working environment. There are two major technologies to develop by this paper. The first technology is the capability of sensing contact forces and torques by a newly-designed six degrees-of-freedom (DOF) force/torque sensor at a fast speed to facilitate feedback control towards anti-collision for the Cobots with wide measurement range, precision, with a smaller size and lower costs. For the force/torque sensor structure, the finite element method (FEM) is established. The sensor is designed and optimized based on finite element analysis (FEA) while 'maximum likelihood estimation (MLE)' is utilized to increase accuracy in estimation of force/torque by using appropriate statistical model. The second technology is the anti-collision control. If the collision occurs, the Cobot has an ability to response safely and instantaneously. The proposed control scheme and assisting 6-DOF sensor are capable of performing Cobots anti-collision in welding, grinding, polishing, assembling, etc. with high precision.

Original language	English
Title of host publication	Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018
Editors	Artde Donald Kin-Tak Lam, Stephen D. Prior, Teen-Hang Meen
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1228-1231
Number of pages	4
ISBN (Electronic)	9781538643426
DOIs	https://doi.org/10.1109/ICASI.2018.8394511
State	Published - 13 Apr 2018
Event	4th IEEE International Conference on Applied System Innovation, ICASI 2018 - Chiba, Japan Duration: 13 Apr 2018 → 17 Apr 2018

Publication series

Name	Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018

Conference

Conference	4th IEEE International Conference on Applied System Innovation, ICASI 2018
Country/Territory	Japan
City	Chiba
Period	13/04/18 → 17/04/18

Keywords

Anti-Collision
Collaborative Robots (Cobots)
Force/Torque Sensor
maximum likelihood estimation (MLE)

Access to Document

10.1109/ICASI.2018.8394511

Cite this

Phan, T. P., Chao, P. C.-P., Cai, J. J., Wang, Y. J., Wang, S. C., & Wong, K. (2018). A novel 6-DOF force/torque sensor for COBOTs and its calibration method. In A. D. K.-T. Lam, S. D. Prior, & T.-H. Meen (Eds.), Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018 (pp. 1228-1231). Article 8394511 (Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICASI.2018.8394511

Phan, Tan Phat ; Chao, Paul C.-P. ; Cai, Jia Jun et al. / A novel 6-DOF force/torque sensor for COBOTs and its calibration method. Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018. editor / Artde Donald Kin-Tak Lam ; Stephen D. Prior ; Teen-Hang Meen. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1228-1231 (Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018).

@inproceedings{34f377456b07429c9699cd21de8f9d7a,

title = "A novel 6-DOF force/torque sensor for COBOTs and its calibration method",

abstract = "This paper intends to design a 6-DOF force/torque sensor along with its readout circuit for collaborative robots (Cobots) working environment. There are two major technologies to develop by this paper. The first technology is the capability of sensing contact forces and torques by a newly-designed six degrees-of-freedom (DOF) force/torque sensor at a fast speed to facilitate feedback control towards anti-collision for the Cobots with wide measurement range, precision, with a smaller size and lower costs. For the force/torque sensor structure, the finite element method (FEM) is established. The sensor is designed and optimized based on finite element analysis (FEA) while 'maximum likelihood estimation (MLE)' is utilized to increase accuracy in estimation of force/torque by using appropriate statistical model. The second technology is the anti-collision control. If the collision occurs, the Cobot has an ability to response safely and instantaneously. The proposed control scheme and assisting 6-DOF sensor are capable of performing Cobots anti-collision in welding, grinding, polishing, assembling, etc. with high precision.",

keywords = "Anti-Collision, Collaborative Robots (Cobots), Force/Torque Sensor, maximum likelihood estimation (MLE)",

author = "Phan, {Tan Phat} and Chao, {Paul C.-P.} and Cai, {Jia Jun} and Wang, {Yu Jen} and Wang, {Sheng Ching} and Kyle Wong",

year = "2018",

month = apr,

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doi = "10.1109/ICASI.2018.8394511",

language = "English",

series = "Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018",

address = "美國",

note = "4th IEEE International Conference on Applied System Innovation, ICASI 2018 ; Conference date: 13-04-2018 Through 17-04-2018",

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Phan, TP, Chao, PC-P, Cai, JJ, Wang, YJ, Wang, SC & Wong, K 2018, A novel 6-DOF force/torque sensor for COBOTs and its calibration method. in ADK-T Lam, SD Prior & T-H Meen (eds), Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018., 8394511, Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018, Institute of Electrical and Electronics Engineers Inc., pp. 1228-1231, 4th IEEE International Conference on Applied System Innovation, ICASI 2018, Chiba, Japan, 13/04/18. https://doi.org/10.1109/ICASI.2018.8394511

A novel 6-DOF force/torque sensor for COBOTs and its calibration method. / Phan, Tan Phat; Chao, Paul C.-P.; Cai, Jia Jun et al.
Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018. ed. / Artde Donald Kin-Tak Lam; Stephen D. Prior; Teen-Hang Meen. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1228-1231 8394511 (Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - A novel 6-DOF force/torque sensor for COBOTs and its calibration method

AU - Phan, Tan Phat

AU - Chao, Paul C.-P.

AU - Cai, Jia Jun

AU - Wang, Yu Jen

AU - Wang, Sheng Ching

AU - Wong, Kyle

PY - 2018/4/13

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N2 - This paper intends to design a 6-DOF force/torque sensor along with its readout circuit for collaborative robots (Cobots) working environment. There are two major technologies to develop by this paper. The first technology is the capability of sensing contact forces and torques by a newly-designed six degrees-of-freedom (DOF) force/torque sensor at a fast speed to facilitate feedback control towards anti-collision for the Cobots with wide measurement range, precision, with a smaller size and lower costs. For the force/torque sensor structure, the finite element method (FEM) is established. The sensor is designed and optimized based on finite element analysis (FEA) while 'maximum likelihood estimation (MLE)' is utilized to increase accuracy in estimation of force/torque by using appropriate statistical model. The second technology is the anti-collision control. If the collision occurs, the Cobot has an ability to response safely and instantaneously. The proposed control scheme and assisting 6-DOF sensor are capable of performing Cobots anti-collision in welding, grinding, polishing, assembling, etc. with high precision.

AB - This paper intends to design a 6-DOF force/torque sensor along with its readout circuit for collaborative robots (Cobots) working environment. There are two major technologies to develop by this paper. The first technology is the capability of sensing contact forces and torques by a newly-designed six degrees-of-freedom (DOF) force/torque sensor at a fast speed to facilitate feedback control towards anti-collision for the Cobots with wide measurement range, precision, with a smaller size and lower costs. For the force/torque sensor structure, the finite element method (FEM) is established. The sensor is designed and optimized based on finite element analysis (FEA) while 'maximum likelihood estimation (MLE)' is utilized to increase accuracy in estimation of force/torque by using appropriate statistical model. The second technology is the anti-collision control. If the collision occurs, the Cobot has an ability to response safely and instantaneously. The proposed control scheme and assisting 6-DOF sensor are capable of performing Cobots anti-collision in welding, grinding, polishing, assembling, etc. with high precision.

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KW - Collaborative Robots (Cobots)

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KW - maximum likelihood estimation (MLE)

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BT - Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018

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Phan TP, Chao PCP, Cai JJ, Wang YJ, Wang SC, Wong K. A novel 6-DOF force/torque sensor for COBOTs and its calibration method. In Lam ADKT, Prior SD, Meen TH, editors, Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1228-1231. 8394511. (Proceedings of 4th IEEE International Conference on Applied System Innovation 2018, ICASI 2018). doi: 10.1109/ICASI.2018.8394511

A novel 6-DOF force/torque sensor for COBOTs and its calibration method

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