Force capability evaluation methods for bilateral controlled manipulators

Hiromu Sekiguchi, Kouhei Ohnishi

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

2 Citations (Scopus)

Abstract

Manipulating force ellipsoid and force polytope are measurements to evaluate force capability of manipulators. This paper extends these measurements to bilateral controlled manipulators. Control goals of bilateral control are synchronizing position and realizing the law of action and reaction between master and slave. In the steady-state, master and slave should output same magnitude force in reverse direction to realize the law. Therefore, force capability of the whole system is regulated by master or slave which has smaller force capability. Thus, an intersection between two force ellipsoids or polytopes of master and slave represents force capability of the system. In this paper, two methods are proposed to evaluate the intersection considering gravity: one is based on force polytopes, and the other is based on manipulating force ellipsoids. Numerical examples are provided to compare characteristics of two methods.

Original languageEnglish
Title of host publicationProceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages111-116
Number of pages6
ISBN (Electronic)9781509045389
DOIs
Publication statusPublished - 2017 May 6
Event2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia
Duration: 2017 Feb 132017 Feb 15

Other

Other2017 IEEE International Conference on Mechatronics, ICM 2017
CountryAustralia
CityGippsland
Period17/2/1317/2/15

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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  • Cite this

    Sekiguchi, H., & Ohnishi, K. (2017). Force capability evaluation methods for bilateral controlled manipulators. In Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017 (pp. 111-116). [7921089] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2017.7921089