Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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Development of a 6-axis Robotic Base Platform with Force/Moment Sensing

힘/모멘트 측정기능을 갖는 6축 로봇 베이스 플랫폼 개발

  • Jung, Sung Hun (Dept, of Mechanical Convergence Engineering, Kyungnam University) ;
  • Kim, Han Sung (Dept, of Mechanical Engineering, Kyungnam University)
  • 정성훈 (경남대학교 기계융합공학과) ;
  • 김한성 (경남대학교 기계공학부)
  • Received : 2019.03.28
  • Accepted : 2019.05.28
  • Published : 2019.06.30
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Abstract

This paper present a novel 6-axis robotic base platform with force/moment sensing. The robotic base platform is made up of six loadcells connecting the moving plate to the fixed plate by spherical joints at the both ends of loadcells. The statics relation is derived, the robotic base platform prototype and the loadcell measurement system are developed. The force/moment calibrations in joint and Cartesian spaces are performed. The algorithm to detect external force applied at a working robot is derived, and using a 6-DOF robot mounted on the robotic base platform, force/moment measurement experiments have been performed.

Keywords

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Fig. 1 6-axis robotic base platform

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Fig. 2 Geometry of a robotic base platform

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Fig. 3 Block diagram of the 6-axis force/moment measurement

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Fig. 4 System configuration of the robotic base platform

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Fig. 5 Calibration program using Simulink and xPC

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Fig. 6 Force/moment measurement experiment setup

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Fig. 7 Joint calibration experiment of loadcell #1

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Fig. 8 Cartesian calibration experiment of the base platform

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Fig. 9 External wrench detection algorithm

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Fig. 10 Modeling of link masses of a 6-DOF robot

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Fig. 11 Kinematic model of a 6-DOF robot

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Fig. 13 Measured and calculated wrench along x-axis

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Fig. 12 Measurement experiment of a 6-DOF robot arm mounted on the base platform

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Fig. 14 Measured and calculated wrench along y-axis

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Fig. 15 Measured and calculated wrench along z-axis

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Fig. 16 Trajectory planning of a 6-DOF robot

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Fig. 17 Comparison of $w^{m}_B$ with $w^{c}_R$

Table 1. Design parameters of a Robotic Base Platform

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Table 2. Max. force/moment measurement range

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Table 3. Joint calibration result of loadcells

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Table 4. Cartesian calibration result of the base platform

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Table 5. Link masses of a 6-DOF robot

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Table 6. D-H Parameters of a 6-DOF robot

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Table 7. Max. wrench error between $w^{m}_B$ and $w^{c}_R$

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