Xia, K.; Ding, L.; Liu, G.; Gao, H.; Deng, Z. A Novel Virtual Torque Sensor for Rescue Robots with Harmonic Drives. Preprints2016, 2016090084. https://doi.org/10.20944/preprints201609.0084.v1
APA Style
Xia, K., Ding, L., Liu, G., Gao, H., & Deng, Z. (2016). A Novel Virtual Torque Sensor for Rescue Robots with Harmonic Drives. Preprints. https://doi.org/10.20944/preprints201609.0084.v1
Chicago/Turabian Style
Xia, K., Haibo Gao and Zongquan Deng. 2016 "A Novel Virtual Torque Sensor for Rescue Robots with Harmonic Drives" Preprints. https://doi.org/10.20944/preprints201609.0084.v1
Abstract
In this paper, a method is developed for presenting a novel virtual torque sensor based on precise model and position measurements avoids the need of traditional strain gauges and amplifiers. More specifically, the harmonic drive compliance model and the Gaussian process regression (GPR) technique are used together to achieve virtual torque sensor measurement. While the harmonic drive compliance model provides the analytic part, the Gaussian process regression method is used to reconstruct the unmolded part based on motor-side and link-side joint angles as well as motor current. After an automatic offline calibration, the method allows for a lean online implementation. The virtual torque sensor measurement is compared with measurements of a commercial torque sensor, and the results have attested the effectiveness of the proposed method.
Keywords
robot joint; virtual torque sensor; Gaussian process regression; harmonic drive compliance model
Subject
Engineering, Control and Systems Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
