Bilateral control using compression type mechanical gravity canceller

Sho Iwata, Kazuki Tanida, Keita Shimamoto, Kouhei Ohnishi, Yasuyuki Yamada

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

Abstract

Many studies on human support robots have been carried out hitherto. Bilateral control based on 4ch bilateral controller is an efficient method for human support. Bilateral control is a method for realizing transmission of force sensation between master system and slave system. However, in the case of multi-degree of freedom system, containing vertical motion, it is difficult to distinguish reaction force and gravity force. Moreover, it is difficult to actuate multi-degree of freedom robots with direct drive motors because the rating of the motors are limited. Therefore, this paper proposes a bilateral control using mechanical gravity canceller. In the proposed system, compression type mechanical gravity canceller (CGC) is used to compensate the gravity force. CGC is a passive gravity compensation mechanism with slider crank mechanisms and compression springs. As a result of this mechanism, gravity force can be completely suppressed. Thus, the proposed system enables vertical bilateral control without gravity effect. Experimental results are given to show the validity of the proposed system.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages296-301
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

Fingerprint

Gravity
Gravitation
Compression
Robot
Degree of freedom
Vertical
Robots
Controller
Controllers
Motion
Experimental Results
Human

Keywords

  • Compression type mechanical gravity canceller (CGC)
  • Disturbance observer
  • Gravity compensation
  • Haptics
  • Master slave system
  • Motion control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Iwata, S., Tanida, K., Shimamoto, K., Ohnishi, K., & Yamada, Y. (2014). Bilateral control using compression type mechanical gravity canceller. In International Workshop on Advanced Motion Control, AMC (pp. 296-301). [6823298] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823298

Bilateral control using compression type mechanical gravity canceller. / Iwata, Sho; Tanida, Kazuki; Shimamoto, Keita; Ohnishi, Kouhei; Yamada, Yasuyuki.

International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. p. 296-301 6823298.

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

Iwata, S, Tanida, K, Shimamoto, K, Ohnishi, K & Yamada, Y 2014, Bilateral control using compression type mechanical gravity canceller. in International Workshop on Advanced Motion Control, AMC., 6823298, Institute of Electrical and Electronics Engineers Inc., pp. 296-301, 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014, Yokohama, Japan, 14/3/14. https://doi.org/10.1109/AMC.2014.6823298
Iwata S, Tanida K, Shimamoto K, Ohnishi K, Yamada Y. Bilateral control using compression type mechanical gravity canceller. In International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc. 2014. p. 296-301. 6823298 https://doi.org/10.1109/AMC.2014.6823298
Iwata, Sho ; Tanida, Kazuki ; Shimamoto, Keita ; Ohnishi, Kouhei ; Yamada, Yasuyuki. / Bilateral control using compression type mechanical gravity canceller. International Workshop on Advanced Motion Control, AMC. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 296-301
@inproceedings{55c93c0c0eda4cde9b0317982875ed30,
title = "Bilateral control using compression type mechanical gravity canceller",
abstract = "Many studies on human support robots have been carried out hitherto. Bilateral control based on 4ch bilateral controller is an efficient method for human support. Bilateral control is a method for realizing transmission of force sensation between master system and slave system. However, in the case of multi-degree of freedom system, containing vertical motion, it is difficult to distinguish reaction force and gravity force. Moreover, it is difficult to actuate multi-degree of freedom robots with direct drive motors because the rating of the motors are limited. Therefore, this paper proposes a bilateral control using mechanical gravity canceller. In the proposed system, compression type mechanical gravity canceller (CGC) is used to compensate the gravity force. CGC is a passive gravity compensation mechanism with slider crank mechanisms and compression springs. As a result of this mechanism, gravity force can be completely suppressed. Thus, the proposed system enables vertical bilateral control without gravity effect. Experimental results are given to show the validity of the proposed system.",
keywords = "Compression type mechanical gravity canceller (CGC), Disturbance observer, Gravity compensation, Haptics, Master slave system, Motion control",
author = "Sho Iwata and Kazuki Tanida and Keita Shimamoto and Kouhei Ohnishi and Yasuyuki Yamada",
year = "2014",
doi = "10.1109/AMC.2014.6823298",
language = "English",
isbn = "9781479923243",
pages = "296--301",
booktitle = "International Workshop on Advanced Motion Control, AMC",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Bilateral control using compression type mechanical gravity canceller

AU - Iwata, Sho

AU - Tanida, Kazuki

AU - Shimamoto, Keita

AU - Ohnishi, Kouhei

AU - Yamada, Yasuyuki

PY - 2014

Y1 - 2014

N2 - Many studies on human support robots have been carried out hitherto. Bilateral control based on 4ch bilateral controller is an efficient method for human support. Bilateral control is a method for realizing transmission of force sensation between master system and slave system. However, in the case of multi-degree of freedom system, containing vertical motion, it is difficult to distinguish reaction force and gravity force. Moreover, it is difficult to actuate multi-degree of freedom robots with direct drive motors because the rating of the motors are limited. Therefore, this paper proposes a bilateral control using mechanical gravity canceller. In the proposed system, compression type mechanical gravity canceller (CGC) is used to compensate the gravity force. CGC is a passive gravity compensation mechanism with slider crank mechanisms and compression springs. As a result of this mechanism, gravity force can be completely suppressed. Thus, the proposed system enables vertical bilateral control without gravity effect. Experimental results are given to show the validity of the proposed system.

AB - Many studies on human support robots have been carried out hitherto. Bilateral control based on 4ch bilateral controller is an efficient method for human support. Bilateral control is a method for realizing transmission of force sensation between master system and slave system. However, in the case of multi-degree of freedom system, containing vertical motion, it is difficult to distinguish reaction force and gravity force. Moreover, it is difficult to actuate multi-degree of freedom robots with direct drive motors because the rating of the motors are limited. Therefore, this paper proposes a bilateral control using mechanical gravity canceller. In the proposed system, compression type mechanical gravity canceller (CGC) is used to compensate the gravity force. CGC is a passive gravity compensation mechanism with slider crank mechanisms and compression springs. As a result of this mechanism, gravity force can be completely suppressed. Thus, the proposed system enables vertical bilateral control without gravity effect. Experimental results are given to show the validity of the proposed system.

KW - Compression type mechanical gravity canceller (CGC)

KW - Disturbance observer

KW - Gravity compensation

KW - Haptics

KW - Master slave system

KW - Motion control

UR - http://www.scopus.com/inward/record.url?scp=84903125082&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84903125082&partnerID=8YFLogxK

U2 - 10.1109/AMC.2014.6823298

DO - 10.1109/AMC.2014.6823298

M3 - Conference contribution

AN - SCOPUS:84903125082

SN - 9781479923243

SP - 296

EP - 301

BT - International Workshop on Advanced Motion Control, AMC

PB - Institute of Electrical and Electronics Engineers Inc.

ER -