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 publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages296-301
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

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

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

Cite this

Iwata, S., Tanida, K., Shimamoto, K., Ohnishi, K., & Yamada, Y. (2014). Bilateral control using compression type mechanical gravity canceller. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 296-301). [6823298] (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823298