Drawing pressure estimation using torque feedback control model of A 4-DOF robotic arm

Meng Cheng Lau, Chi Tai Cheng, Jacky Baltes, John Anderson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper we introduce a torque feedback control (TFC) model to estimate pressure of the hand on a 4-DOF robotic arm of Betty, a humanoid robot. Based on several preliminary experiments of different stroke patterns, we measured and analysed the torque replies of Betty’s servos in order to model the torque feedback. We developed a robust humanoid system to create sketch like drawing with limited hardware which has no force sensor but basic torque feedback from servos to estimate pressure apply on drawing pad. We investigated the efficiency of using the TFC in the drawing task based on several different stroke patterns. The experimental results indicate that the TFC model successfully corrected the errors during the drawing task.

Original languageEnglish
Title of host publicationAdvances in Intelligent Systems and Computing
PublisherSpringer Verlag
Pages401-410
Number of pages10
Volume345
ISBN (Print)9783319168401
DOIs
Publication statusPublished - 2015
Event3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014 - Beijing, China
Duration: 6 Nov 20148 Nov 2014

Publication series

NameAdvances in Intelligent Systems and Computing
Volume345
ISSN (Print)21945357

Other

Other3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014
CountryChina
CityBeijing
Period6/11/148/11/14

Fingerprint

Robotic arms
Torque control
Feedback control
Servomotors
Torque
Feedback
End effectors
Robots
Hardware
Sensors
Experiments

Keywords

  • Drawing pressure estimation
  • Robotic arm
  • Torque feedback control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

Cite this

Lau, M. C., Cheng, C. T., Baltes, J., & Anderson, J. (2015). Drawing pressure estimation using torque feedback control model of A 4-DOF robotic arm. In Advances in Intelligent Systems and Computing (Vol. 345, pp. 401-410). (Advances in Intelligent Systems and Computing; Vol. 345). Springer Verlag. https://doi.org/10.1007/978-3-319-16841-8_37

Drawing pressure estimation using torque feedback control model of A 4-DOF robotic arm. / Lau, Meng Cheng; Cheng, Chi Tai; Baltes, Jacky; Anderson, John.

Advances in Intelligent Systems and Computing. Vol. 345 Springer Verlag, 2015. p. 401-410 (Advances in Intelligent Systems and Computing; Vol. 345).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Lau, MC, Cheng, CT, Baltes, J & Anderson, J 2015, Drawing pressure estimation using torque feedback control model of A 4-DOF robotic arm. in Advances in Intelligent Systems and Computing. vol. 345, Advances in Intelligent Systems and Computing, vol. 345, Springer Verlag, pp. 401-410, 3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014, Beijing, China, 6/11/14. https://doi.org/10.1007/978-3-319-16841-8_37
Lau MC, Cheng CT, Baltes J, Anderson J. Drawing pressure estimation using torque feedback control model of A 4-DOF robotic arm. In Advances in Intelligent Systems and Computing. Vol. 345. Springer Verlag. 2015. p. 401-410. (Advances in Intelligent Systems and Computing). https://doi.org/10.1007/978-3-319-16841-8_37
Lau, Meng Cheng ; Cheng, Chi Tai ; Baltes, Jacky ; Anderson, John. / Drawing pressure estimation using torque feedback control model of A 4-DOF robotic arm. Advances in Intelligent Systems and Computing. Vol. 345 Springer Verlag, 2015. pp. 401-410 (Advances in Intelligent Systems and Computing).
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