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
N1 - Copyright:
Copyright 2014 Elsevier B.V., All rights reserved.
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
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U2 - 10.1109/AMC.2014.6823298
DO - 10.1109/AMC.2014.6823298
M3 - Conference contribution
AN - SCOPUS:84903125082
SN - 9781479923243
T3 - International Workshop on Advanced Motion Control, AMC
SP - 296
EP - 301
BT - 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Y2 - 14 March 2014 through 16 March 2014
ER -