Industrial Robot Impact Force Detection Using Motor Currents

2019 IEEE 7th Workshop on Advances in Information, Electronic and Electrical Engineering (AIEEE 2019): Conference Proceedings 2019
Ričards Poriņš, Pēteris Apse-Apsītis

In this paper, the industrial robot motor current measurements are done to detect external force on the robot. Fast Fourier Transforms (FFT) processing of measured current values are done as the supplied voltage is a square wave signal and current is filtered b y t he m otor i nductance o nly. T he measured current is compared to the measured force on the robot. The developed measurement system is intended for the use in the Human-Robot Collaboration system along with other types of sensing and measuring elements.

Atslēgas vārdi
Industrial robot, Current measurement, Fast Fourier transform, Force measurement, Human-Robot collabo- ration
DOI
10.1109/AIEEE48629.2019.8977033
Hipersaite
https://ieeexplore.ieee.org/abstract/document/8977033

Poriņš, R., Apse-Apsītis, P. Industrial Robot Impact Force Detection Using Motor Currents. No: 2019 IEEE 7th Workshop on Advances in Information, Electronic and Electrical Engineering (AIEEE 2019): Conference Proceedings, Latvija, Liepaja, 15.-16. novembris, 2019. Piscataway: IEEE, 2019, 102.-105.lpp. ISBN 978-1-7281-6731-2. e-ISBN 978-1-7281-6730-5. Pieejams: doi:10.1109/AIEEE48629.2019.8977033

Publikācijas valoda
English (en)