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 publicationRobot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications
EditorsWeimin Yang, Hyun Myung, Jong-Hwan Kim, Peter Sincak, Jun Jo
PublisherSpringer Verlag
Pages401-410
Number of pages10
ISBN (Print)9783319168401
DOIs
Publication statusPublished - 2015 Jan 1
Event3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014 - Beijing, China
Duration: 2014 Nov 62014 Nov 8

Publication series

NameAdvances in Intelligent Systems and Computing
Volume345
ISSN (Print)2194-5357

Other

Other3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014
CountryChina
CityBeijing
Period14/11/614/11/8

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 W. Yang, H. Myung, J-H. Kim, P. Sincak, & J. Jo (Eds.), Robot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications (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.

Robot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications. ed. / Weimin Yang; Hyun Myung; Jong-Hwan Kim; Peter Sincak; Jun Jo. 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 W Yang, H Myung, J-H Kim, P Sincak & J Jo (eds), Robot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications. 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, 14/11/6. 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 Yang W, Myung H, Kim J-H, Sincak P, Jo J, editors, Robot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications. 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. Robot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications. editor / Weimin Yang ; Hyun Myung ; Jong-Hwan Kim ; Peter Sincak ; Jun Jo. Springer Verlag, 2015. pp. 401-410 (Advances in Intelligent Systems and Computing).
@inproceedings{52907883f78c4d2697848ca5680b9c36,
title = "Drawing pressure estimation using torque feedback control model of A 4-DOF robotic arm",
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.",
keywords = "Drawing pressure estimation, Robotic arm, Torque feedback control",
author = "Lau, {Meng Cheng} and Cheng, {Chi Tai} and Jacky Baltes and John Anderson",
year = "2015",
month = "1",
day = "1",
doi = "10.1007/978-3-319-16841-8_37",
language = "English",
isbn = "9783319168401",
series = "Advances in Intelligent Systems and Computing",
publisher = "Springer Verlag",
pages = "401--410",
editor = "Weimin Yang and Hyun Myung and Jong-Hwan Kim and Peter Sincak and Jun Jo",
booktitle = "Robot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications",

}

TY - GEN

T1 - Drawing pressure estimation using torque feedback control model of A 4-DOF robotic arm

AU - Lau, Meng Cheng

AU - Cheng, Chi Tai

AU - Baltes, Jacky

AU - Anderson, John

PY - 2015/1/1

Y1 - 2015/1/1

N2 - 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.

AB - 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.

KW - Drawing pressure estimation

KW - Robotic arm

KW - Torque feedback control

UR - http://www.scopus.com/inward/record.url?scp=84942577065&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84942577065&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-16841-8_37

DO - 10.1007/978-3-319-16841-8_37

M3 - Conference contribution

AN - SCOPUS:84942577065

SN - 9783319168401

T3 - Advances in Intelligent Systems and Computing

SP - 401

EP - 410

BT - Robot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications

A2 - Yang, Weimin

A2 - Myung, Hyun

A2 - Kim, Jong-Hwan

A2 - Sincak, Peter

A2 - Jo, Jun

PB - Springer Verlag

ER -