Compensation of backlash for improving the efficiency of flexible actuator in bilateral teleoperation system

Chowarit Mitsantisuk, Kiyoshi Ohishi, Seiichiro Katsura

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

1 Citation (Scopus)

Abstract

Teleoperation systems provide human with the ability to interact unknown environment from a remote side which may be dangerous, hazardous, or difficult to access. This paper addresses the development of a bilateral controller for improving the efficiency of a flexible actuator. Based on various identification results from the different bending angles of thrust wire, the system model for a flexible actuator is established and formulated as a one-mass system with variable backlash and friction. When the thrust wire bends in the different angles, the dead-zone backlash characteristics are varied due to the contact surface between the inner wire and outer tube. Therefore it is not quite possible to compensate this non-linearity effects in a real-time. To overcome the inherent problem of backlash and vibration in the thrust wire, the load-side encoder is mounted to measure the end-effector movement. The information transformation technique called, a modal space design is proposed to achieve the targets of bilateral control and suppress this non-linearity effect of backlash. By using the proposed method, it is not necessary to estimate backlash parameters. This algorithm is verified through the identification and experimental results of master and slave robots with thrust wire.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society
Pages4220-4225
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia
Duration: 2011 Nov 72011 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
CountryAustralia
CityMelbourne, VIC
Period11/11/711/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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