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

Keywords

  • Drawing pressure estimation
  • Robotic arm
  • Torque feedback control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

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  • 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