A method for estimation of operational torque with utilizing a hysteresis model

Mari Kawamoto, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011
Pages53-58
Number of pages6
DOIs
Publication statusPublished - 2011 Aug 23
Event2011 1st International Symposium on Access Spaces, ISAS 2011 - Yokohama, Japan
Duration: 2011 Jun 172011 Jun 19

Publication series

NameProceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011

Other

Other2011 1st International Symposium on Access Spaces, ISAS 2011
CountryJapan
CityYokohama
Period11/6/1711/6/19

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Electrical and Electronic Engineering

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    Kawamoto, M., & Ohnishi, K. (2011). A method for estimation of operational torque with utilizing a hysteresis model. In Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011 (pp. 53-58). [5960920] (Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011). https://doi.org/10.1109/ISAS.2011.5960920