Abstract
In robot teaching for contact tasks, it is necessary to not only accurately perceive the traction force exerted by hands, but also to perceive the contact force at the robot end. This paper develops a tandem force sensor to detect traction and contact forces. As a component of the tandem force sensor, a cylindrical traction force sensor is developed to detect the traction force applied by hands. Its structure is designed to be suitable for humans to operate, and the mechanical model of its cylinder-shaped elastic structural body has been analyzed. After calibration, the cylindrical traction force sensor is proven to be able to detect forces/moments with small errors. Then, a tandem force sensor is developed based on the developed cylindrical traction force sensor and a wrist force sensor. The robot teaching experiment of drawer switches were made and the results confirm that the developed traction force sensor is simple to operate and the tandem force sensor can achieve the perception of the traction and contact forces.
Highlights
Imitation learning or learning by demonstration is one of the promising approaches for non-experts to develop a task control method or a policy in a straightforward and feasible manner [1,2].Within imitation learning, a task control model or policy is learned from the task demonstrations, one of which is a sequence of state-action pairs recorded during the teacher’s demonstration
In cases that a wrist force sensor is used as the contact force sensor, a cylindrical traction force sensor
In cases that a wrist force sensor is used as the contact force sensor, a cylindrical traction force sensor that is easy to handle by hand, has been designed
Summary
Imitation learning or learning by demonstration is one of the promising approaches for non-experts to develop a task control method or a policy in a straightforward and feasible manner [1,2]. In the imitation learning of peg-in-hole tasks, references [17,18,19] adopted kinesthetic teaching to guide the robot to carry out assembly tasks, in which a wrist force sensors was used to measure the traction force exerted by human hands and the contact status between peg and holes. This force sensor installed at the end flange of robot cannot distinguish between contact force and traction force, which makes the force data used for the policy learning inaccurate. Compared with the force sensor in reference [27], the developed traction force sensor is easier to be operated by human hands and suitable for drawer switch teaching
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