公开(公告)号：KR1020120037128A

公开(公告)日：2012-04-19

申请号：KR1020100098700

申请日：2010-10-11

Applicant: 한국과학기술원

Inventor： 장평훈 ,  정재원

IPC: B25J9/16 ,  G05B19/00

Abstract: PURPOSE: A method for estimating the external force of a robot system using Time-Delay Estimation is provided to accurately estimate the external force of a robot system without robot dynamics. CONSTITUTION: A method for estimating the external force of a robot system using Time-Delay Estimation is as follows. A first TDE estimate is stored in a memory so that a robot can copy a constrained motion at a free space. A second TDE estimate is calculated when the robot touches constrained environment at a constrained space. The external force of the robot is calculated in real time through the difference between the first and second TD estimates.

Abstract translation: 目的：提供一种使用时间延迟估计来估计机器人系统的外力的方法，以精确估计机器人系统的外力，而无需机器人动力学。 构成：使用时间延迟估计估计机器人系统的外力的方法如下。 第一TDE估计被存储在存储器中，使得机器人可以在自由空间中复制约束运动。 当机器人在受约束的空间接触约束环境时，计算第二个TDE估计。 通过第一和第二TD估计之间的差值实时计算机器人的外力。

公开(公告)号：KR100264398B1

公开(公告)日：2000-08-16

申请号：KR1019980019307

申请日：1998-05-27

Applicant: 한국과학기술원

Inventor： 곽윤근 ,  김수현 ,  정재원

IPC: G01B21/00

Abstract: PURPOSE: A wire position sensor is provided to prevent a slip of a wire using a measuring shaft having a hole, which is formed on a circumferential surface and contacts with the wire, and an auxiliary shaft, which contacts with an opposite circumferential surface of the wire contacting to the hole and supports a bearing. CONSTITUTION: A wire position sensor includes an encoder part(30) having a measuring shaft(31) in which a hole(36) is formed in a circumferential direction on the center, an encoder(38) connected to an end portion of the measuring shaft(31), and an auxiliary shaft(32) supporting a rotating bearing(35) contacted to an opposite surface of a wire(20) contacting to the hole of the measuring shaft. The measuring shaft is connected to a bracket with a fixing bearing(37) and a snap ring(33) to restrict the movement of the measuring shaft in an axial direction. The auxiliary shaft is fixed with the snap ring in the outside of the bracket and supports the rotating bearing rotating when the wire moves from the hole of the measuring shaft in a longitudinal direction.

Abstract translation: 目的：提供一种线位置传感器，以防止使用在圆周表面上形成并与线接触的具有孔的测量轴的线的滑动，以及与轴的相对的周向表面接触的辅助轴 电线接触孔并支撑轴承。 构成：线位置传感器包括具有测量轴（31）的编码器部分（30），其中在中心沿圆周方向形成孔（36），编码器（38）连接到测量的端部 轴（31）和辅助轴（32），其支撑与接触测量轴的孔的线（20）的相对表面接触的旋转轴承（35）。 测量轴连接到具有固定轴承（37）和卡环（33）的支架，以限制测量轴在轴向方向上的移动。 辅助轴通过卡环固定在支架的外侧，并且当线从长度方向从测量轴的孔移动时支撑旋转轴承旋转。