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 publicationIECON Proceedings (Industrial Electronics Conference)
Pages4220-4225
Number of pages6
DOIs
Publication statusPublished - 2011
Event37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia
Duration: 2011 Nov 72011 Nov 10

Other

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

Fingerprint

Remote control
Actuators
Wire
End effectors
Compensation and Redress
Robots
Friction
Controllers

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Mitsantisuk, C., Ohishi, K., & Katsura, S. (2011). Compensation of backlash for improving the efficiency of flexible actuator in bilateral teleoperation system. In IECON Proceedings (Industrial Electronics Conference) (pp. 4220-4225). [6120001] https://doi.org/10.1109/IECON.2011.6120001

Compensation of backlash for improving the efficiency of flexible actuator in bilateral teleoperation system. / Mitsantisuk, Chowarit; Ohishi, Kiyoshi; Katsura, Seiichiro.

IECON Proceedings (Industrial Electronics Conference). 2011. p. 4220-4225 6120001.

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

Mitsantisuk, C, Ohishi, K & Katsura, S 2011, Compensation of backlash for improving the efficiency of flexible actuator in bilateral teleoperation system. in IECON Proceedings (Industrial Electronics Conference)., 6120001, pp. 4220-4225, 37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011, Melbourne, VIC, Australia, 11/11/7. https://doi.org/10.1109/IECON.2011.6120001
Mitsantisuk C, Ohishi K, Katsura S. Compensation of backlash for improving the efficiency of flexible actuator in bilateral teleoperation system. In IECON Proceedings (Industrial Electronics Conference). 2011. p. 4220-4225. 6120001 https://doi.org/10.1109/IECON.2011.6120001
Mitsantisuk, Chowarit ; Ohishi, Kiyoshi ; Katsura, Seiichiro. / Compensation of backlash for improving the efficiency of flexible actuator in bilateral teleoperation system. IECON Proceedings (Industrial Electronics Conference). 2011. pp. 4220-4225
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