Estimation of disturbance force caused by thrust wire using a spring and damper model

Mari Kawamoto, Yusuke Suzuki, Daisuke Yashiro, Kouhei Ohnishi

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

3 Citations (Scopus)

Abstract

The technology in robotics has been developed remarkably in recent years. Especially, usage of robots in medical field, such as telesurgery, is expected more and more along with the population aging. To realize precise surgery, accurate transmission of force sensation is an important issue. Therefore, bilateral control system is taking attention for the application of robots to telesurgery. Bilateral control system consists of motors and encoders. To reduce the weight of robots, the flexible actuator, which is composed of direct drive motor and thrust wire, is a useful device. However, in multi-DOF robots, disturbance force occurs to move the thrust wire and the operability of the robot deteriorates as a result. This paper proposes a spring and damper model to estimate such disturbance force. Estimated disturbance force is evaluated comparing with experimentally obtained values.

Original languageEnglish
Title of host publicationProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
Pages1263-1268
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
Duration: 2010 Nov 72010 Nov 10

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
CountryUnited States
CityGlendale, AZ
Period10/11/710/11/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Estimation of disturbance force caused by thrust wire using a spring and damper model'. Together they form a unique fingerprint.

  • Cite this

    Kawamoto, M., Suzuki, Y., Yashiro, D., & Ohnishi, K. (2010). Estimation of disturbance force caused by thrust wire using a spring and damper model. In Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society (pp. 1263-1268). [5675551] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2010.5675551