A Robust Robot Correction System Using 6-Axis Force/Torque Sensor

Chi Cuong Tran, Syed Humayoon Shah, Chyi Yeu Lin*, Anton Royanto Ahmad

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Normal trajectory plays a vital role to enhance the quality of robotic- based surface finishing. This paper presents a novel and robust solution for real- time robot (manipulator) pose correction employing a 6-axis force sensor. The proposed scheme enables the robot to automatically correct postures in real-time on the curved surface. This approach does not depend on any prior geometric information of the workpieces, such as a CAD model or a 3D point cloud. The system depends only on the feedback data of a 6-axis force/torque sensor, positioned between the robot flange and a tool. The pose adjustment algorithm determines the normal relationship between the contact tool and the workpiece’s surface using the feedback information from the sensor. The experimental results show that the proposed study has great potential to automate surface finishing operations such as robotic-based polishing, particularly on challenging curved surfaces.

Original languageEnglish
Title of host publicationProceedings of the 3rd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2022) - Volume 3
Subtitle of host publicationSustainable Approaches in Machine Design, Life Cycle Engineering, and Energy Management for Manufacturing Processes
EditorsBanh Tien Long, Kozo Ishizaki, Hyung Sun Kim, Yun-Hae Kim, Nguyen Duc Toan, Nguyen Thi Hong Minh, Pham Duc An
PublisherSpringer Science and Business Media Deutschland GmbH
Pages489-496
Number of pages8
ISBN (Print)9783031574597
DOIs
StatePublished - 2024
Externally publishedYes
Event3rd Annual International Conference on Material, Machines and Methods for Sustainable Development, MMMS 2022 - Can Tho, Viet Nam
Duration: 10 Nov 202213 Nov 2022

Publication series

NameLecture Notes in Mechanical Engineering
ISSN (Print)2195-4356
ISSN (Electronic)2195-4364

Conference

Conference3rd Annual International Conference on Material, Machines and Methods for Sustainable Development, MMMS 2022
Country/TerritoryViet Nam
CityCan Tho
Period10/11/2213/11/22

Bibliographical note

Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

Keywords

  • Complex surface
  • Force/torque sensor
  • Normal estimation

ASJC Scopus subject areas

  • Automotive Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Fluid Flow and Transfer Processes

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