Evaluation of a backlash compensation method using two parallel thrust wires

D. Kasun Prasanga, Kazuki Tanida, Takahiro Mizoguchi, Kouhei Ohnishi

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

4 Citations (Scopus)

Abstract

Advancement of the technology in the modern world facilitate for the development of many human supported machines such as robots. These machines use different kinds of mechanical structures and electrical dive systems with the use of proper controllers to achieve the desired task. However most of these robots need to be miniaturized although it is constrained due to various problems such as the actuator size and the performance. To overcome such problems, several proposals have already made to transmit the motion from one place to the other. Thrust wires are one such method to transmit the motion from the motor to the end effector whenever it is necessary to make the end effector lighter in weight. Many of these thrust wires are low in friction but the mechanical backlash is a matter of concern. Also it greatly affects the bilateral control systems as the master manipulator cannot produce the haptic information related to the dead zone of operation. This paper proposes a method to overcome the backlash of thrust wires using two parallel wires to actuate a common end effector. Experimental results confirm the validity of the proposed method.

Original languageEnglish
Title of host publication2013 IEEE International Symposium on Industrial Electronics, ISIE 2013
DOIs
Publication statusPublished - 2013 Aug 22
Event2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013 - Taipei, Taiwan, Province of China
Duration: 2013 May 282013 May 31

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2013 IEEE 22nd International Symposium on Industrial Electronics, ISIE 2013
CountryTaiwan, Province of China
CityTaipei
Period13/5/2813/5/31

Keywords

  • backlash compensation
  • bilateral control
  • disturbance observer
  • teleoperation
  • thrust wires

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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  • Cite this

    Prasanga, D. K., Tanida, K., Mizoguchi, T., & Ohnishi, K. (2013). Evaluation of a backlash compensation method using two parallel thrust wires. In 2013 IEEE International Symposium on Industrial Electronics, ISIE 2013 [6563755] (IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2013.6563755