Force detection and active power assistance of a direct-drive manipulator

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Abstract
When a manipulator is handled manually, it is necessary to reduce the reaction force caused by inertia, friction, gravity, etc. This paper describes an active power assistance system for a direct-drive manipulator, which assists the handling force with a motor, and a force detection system for that purpose. This method detects the handling force by a combination of motor torque detection with a motor current and rotation detection with internal sensors (tacho-generator, etc.). It does not need special force sensors. Some configurations of the power assistance system are also shown. The effectiveness of the proposed method is demonstrated by feasibility experiments.

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