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Instrumented Compliant Wrist with Proximity and Contact Sensing for Close Robot Interaction Control.

Pascal Laferrière1, Pierre Payeur2

  • 1School of Electrical Engineering and Computer Science, University of Ottawa, 800 King Edward, Ottawa, ON K1N 6N5, Canada. plafi092@uottawa.ca.

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Summary

This study introduces a novel instrumented compliant wrist for robots, enhancing safety and precision. The device integrates compliance with sensors for real-time object monitoring, enabling smoother robot control during interaction.

Keywords:
compliancecontactpose estimationproximityrobot controlsurface followingtouch sensing

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Area of Science:

  • Robotics
  • Mechatronics
  • Sensor Integration

Background:

  • Robotic systems traditionally use force feedback for compliance, limiting interaction capabilities.
  • Integrating instrumentation with compliance offers enhanced object monitoring before and after contact.
  • Existing methods lack real-time sensing for precise control during surface interaction.

Purpose of the Study:

  • To design and evaluate a versatile, lightweight, and low-cost instrumented compliant wrist mechanism.
  • To introduce compliance and provide advanced sensing for robotic manipulators.
  • To enable safer and smoother robot control during object interaction.

Main Methods:

  • Development of a compliant wrist mechanism with embedded range sensors.
  • Implementation of calibration procedures to ensure sensor accuracy and resolution.
  • Integration of signal processing and wireless transmission for industrial robot control.

Main Results:

  • Experimental validation of the device's physical compliance.
  • Demonstration of stable and accurate sensor outputs for real-time measurements.
  • Successful integration with industrial robot controllers for path control.

Conclusions:

  • The instrumented compliant wrist offers a versatile solution for enhanced robotic interaction.
  • The device improves safety and smoothness in applications like manufacturing and human-robot interaction.
  • Real-time sensing and compliance enable precise guidance during surface following and inspection.