TY - GEN
T1 - A method for estimation of operational torque with utilizing a hysteresis model
AU - Kawamoto, Mari
AU - Ohnishi, Kouhei
PY - 2011/8/23
Y1 - 2011/8/23
N2 - Along with the population aging, human interactive robots are expected to be introduced in our daily lives especially in developed countries. For such robots, bilateral control is widely researched as a technique for transmission of both position and force information. Reaction force/torque observer (RFOB/RTOB) is often utilized in bilateral control system to estimate reaction force/torque from objects. It achieves a sensorless control system. However, it requires accurate estimation of operational force/torque for precise approximation of reaction force/torque. This paper proposes a method for estimation of operational torque. In this method, a hysteresis model is utilized to reduce vibration which occurs when the velocity shakes at low velocity. The validity of the proposed method is confirmed by experimental results.
AB - Along with the population aging, human interactive robots are expected to be introduced in our daily lives especially in developed countries. For such robots, bilateral control is widely researched as a technique for transmission of both position and force information. Reaction force/torque observer (RFOB/RTOB) is often utilized in bilateral control system to estimate reaction force/torque from objects. It achieves a sensorless control system. However, it requires accurate estimation of operational force/torque for precise approximation of reaction force/torque. This paper proposes a method for estimation of operational torque. In this method, a hysteresis model is utilized to reduce vibration which occurs when the velocity shakes at low velocity. The validity of the proposed method is confirmed by experimental results.
UR - http://www.scopus.com/inward/record.url?scp=80051819120&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80051819120&partnerID=8YFLogxK
U2 - 10.1109/ISAS.2011.5960920
DO - 10.1109/ISAS.2011.5960920
M3 - Conference contribution
AN - SCOPUS:80051819120
SN - 9781457707179
T3 - Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011
SP - 53
EP - 58
BT - Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011
T2 - 2011 1st International Symposium on Access Spaces, ISAS 2011
Y2 - 17 June 2011 through 19 June 2011
ER -