A Cost-Efficient FOC-controlled Haptic Knob for Industrial Robot Programming with Force Feedback

Robot programming is still an elaborate process in industrial assembly, especially in cases requiring a specific force profile for successfully executing an assembly step. In this work, we present the Haptic Knob, a low-cost haptic device (around 100 EUR on hardware costs) for (currently) one-dimensional robot movement programming on both position and force profiles. The Haptic Knob is equipped with a Field-Oriented Controlled (FOC) motor and a positional encoder that reads the human input position and generates feedback forces to the operator. The Haptic Knob is not equipped with an external Force/Torque sensor to measure the human input force, but works together with the impedance controller of the robot arm, which allows a dynamic force teach-in. A control interface is implemented to map the positional signal from the Haptic Knob to the movement of different actuators, as well as the force/torque signals from various devices to the Haptic Knob for force feedback. We showcase and validate the proposed hardware and control interface on the industrial use case of automotive fuse box assembly.     «

Robot programming is still an elaborate process in industrial assembly, especially in cases requiring a specific force profile for successfully executing an assembly step. In this work, we present the Haptic Knob, a low-cost haptic device (around 100 EUR on hardware costs) for (currently) one-dimensional robot movement programming on both position and force profiles. The Haptic Knob is equipped with a Field-Oriented Controlled (FOC) motor and a positional encoder that reads the human input posi...     »

000 Informatik, Wissen, Systeme; 010 Bibliografien; 020 Bibliotheks- und Informationswissenschaften; 030 Enzyklopädien, Faktenbücher; 040 [Unbesetzt]; 050 Zeitschriften, fortlaufende Sammelwerke; 060 Verbände, Organisationen, Museen; 070 Publizistische Medien, Journalismus, Verlagswesen; 080 Allgemeine Sammelwerke, Zitatensammlungen; 090 Handschriften, seltene Bücher; 100 Philosophie; 110 Metaphysik; 120 Epistemologie; 130 Parapsychologie, Okkultismus; 140 Philosophische Schulen; 150 Psychologie; 160 Logik; 170 Ethik; 180 Antike, mittelalterliche und östliche Philosophie; 190 Neuzeitliche westliche Philosophie; 200 Religion; 210 Religionsphilosophie, Religionstheorie; 220 Bibel; 230 Christentum, Christliche Theologie; 240 Christliche Erfahrung, christliches Leben; 250 Christliche Pastoraltheologie, Ordensgemeinschaften; 260 Kirchenorganisation, Sozialarbeit, Religionsausübung; 270 Geschichte des Christentums; 280 Christliche Konfessionen; 290 Andere Religionen; 300 Sozialwissenschaften, Soziologie; 310 Statistiken; 320 Politikwissenschaft; 330 Wirtschaft; 340 Recht; 350 Öffentliche Verwaltung, Militärwissenschaft; 360 Soziale Probleme, Sozialdienste; 370 Bildung und Erziehung     «

000 Informatik, Wissen, Systeme; 010 Bibliografien; 020 Bibliotheks- und Informationswissenschaften; 030 Enzyklopädien, Faktenbücher; 040 [Unbesetzt]; 050 Zeitschriften, fortlaufende Sammelwerke; 060 Verbände, Organisationen, Museen; 070 Publizistische Medien, Journalismus, Verlagswesen; 080 Allgemeine Sammelwerke, Zitatensammlungen; 090 Handschriften, seltene Bücher; 100 Philosophie; 110 Metaphysik; 120 Epistemologie; 130 Parapsychologie, Okkultismus; 140 Philosophische Schulen; 150 Psychologie...     »