原创力文档reaction forcetorque sensing in a master-slave robot system without mechanical sensors反应forcetorque传感在主从机器人系统没有机械传感器.pdfVIP
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reaction forcetorque sensing in a master-slave robot system without mechanical sensors反应forcetorque传感在主从机器人系统没有机械传感器
Sensors 2010, 10, 7134-7145; doi:10.3390/s100807134
OPEN ACCESS
sensors
ISSN 1424-8220
/journal/sensors
Article
Reaction Force/Torque Sensing in a Master-Slave Robot System
without Mechanical Sensors
Tao Liu *, Chunguang Li, Yoshio Inoue and Kyoko Shibata
Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, 185
Miyanokuchi, Tosayamada-Cho, Kami-City, Kochi 782-8502, Japan;
E-Mails: 126011u@gs.kochi-tech.ac.jp (C.L.); inoue.yoshio@kochi-tech.ac.jp (Y.I.);
shibata.kyoko@kochi-tech.ac.jp (K.S.)
* Author to whom correspondence should be addressed; E-Mail: liu.tao@kochi-tech.ac.jp;
Tel.: +81-887-572-177; Fax: +81-887-572-170.
Received: 20 June 2010; in revisedform: 1 July 2010 / Accepted: 15 July 2010 /
Published: 29 July 2010
Abstract: In human-robot cooperative control systems, force feedback is often necessary in
order to achieve high precision and high stability. Usually, traditional robot assistant
systems implement force feedback using force/torque sensors. However, it is difficult to
directly mount a mechanical force sensor on some working terminals, such as in
applications of minimally invasive robotic surgery, micromanipulation, or in working
environments exposed to radiation or high temperature. We propose a novel force sensing
mechanism for implementing force feedback in a master-slave robot system with no
mechanical sensors. The system consists of two identical electro-mot
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