{"title":"一种螺纹拧紧机器人的拧紧力矩估计","authors":"M. Matsumura, S. Itou, H. Hibi, M. Hattori","doi":"10.1109/ROBOT.1995.525572","DOIUrl":null,"url":null,"abstract":"A screw tightening robot with AC servomotors, without any torque sensor was developed for a variety of screws. In order to detect the accurate tightening torque, we developed a new torque estimation method by measuring the electrical current of the motor and calculating it in real time. The screw-driving process is controlled by the 4th joint's motion of the robot. Thus, this robot can tighten screws accurately and reliably without extra cost.","PeriodicalId":432931,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","volume":"116 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1995-05-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"11","resultStr":"{\"title\":\"Tightening torque estimation of a screw tightening robot\",\"authors\":\"M. Matsumura, S. Itou, H. Hibi, M. Hattori\",\"doi\":\"10.1109/ROBOT.1995.525572\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A screw tightening robot with AC servomotors, without any torque sensor was developed for a variety of screws. In order to detect the accurate tightening torque, we developed a new torque estimation method by measuring the electrical current of the motor and calculating it in real time. The screw-driving process is controlled by the 4th joint's motion of the robot. Thus, this robot can tighten screws accurately and reliably without extra cost.\",\"PeriodicalId\":432931,\"journal\":{\"name\":\"Proceedings of 1995 IEEE International Conference on Robotics and Automation\",\"volume\":\"116 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1995-05-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"11\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of 1995 IEEE International Conference on Robotics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.1995.525572\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 1995 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.1995.525572","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Tightening torque estimation of a screw tightening robot
A screw tightening robot with AC servomotors, without any torque sensor was developed for a variety of screws. In order to detect the accurate tightening torque, we developed a new torque estimation method by measuring the electrical current of the motor and calculating it in real time. The screw-driving process is controlled by the 4th joint's motion of the robot. Thus, this robot can tighten screws accurately and reliably without extra cost.
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