Analysis of interaction force of wire-based robot using variable wire rope tension control

Chowarit Mitsantisuk, Thao Phuong Tran, Kiyoshi Ohishi, Shiro Urushihara, Seiichiro Katsura

Research output: Contribution to conferencePaper

4 Citations (Scopus)

Abstract

In this paper, the objective is to analyze a robot system with consideration the different levels of wire rope tension for human-robot applications. In the controller design, dual disturbance observers with respect to two operation modes, namely the common mode and the differential mode are designed and applied for controlling wire rope tension and interaction force of human. The variable wire rope tension algorithm is proposed to change the mechanical bandwidth according to motion movements. The advantage points of the high mechanical bandwidth and low stiffness transmission are combined together. From the experimental results, the variable wire rope tension control is combined to give the best results on an experimental setup, for the rejection of the vibration effects and for the smooth interaction force.

Original languageEnglish
Pages3059-3064
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
Event35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal
Duration: 2009 Nov 32009 Nov 5

Other

Other35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
CountryPortugal
CityPorto
Period09/11/309/11/5

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Analysis of interaction force of wire-based robot using variable wire rope tension control'. Together they form a unique fingerprint.

  • Cite this

    Mitsantisuk, C., Tran, T. P., Ohishi, K., Urushihara, S., & Katsura, S. (2009). Analysis of interaction force of wire-based robot using variable wire rope tension control. 3059-3064. Paper presented at 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009, Porto, Portugal. https://doi.org/10.1109/IECON.2009.5415298