Gravity compensation for improvement of operationarity in bilateral teleoperation

Takayoshi Takei, Tomoyuki Shimono, Ryogo Kubo, Hiroaki Nishi, Kouhei Ohnishi

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

In this paper, the estimation method of only gravity and the compensation method of only the disturbance caused by gravity are proposed. The proposed method is able to estimate gravity, even when the system has the unknown posture. The proposed method is based on the concept of "environment quarrier". Then, environment quarry is expanded to multilateral control. In this paper, two dummy robots that are the environment quarrier are implemented besides master-slave system, in order to abstract only gravity disturbance. The proposed method is adaptable, even when mass of master system differs from one of slave system. To verify the viability of the proposed method, experimental results are shown.

Original languageEnglish
JournalIEEJ Transactions on Industry Applications
Volume128
Issue number6
DOIs
Publication statusPublished - 2008

Fingerprint

Remote control
Gravitation
Quarries
Robots
Compensation and Redress

Keywords

  • Bilateral control
  • Disturbance observer
  • Environment quarrier
  • Gravity compensation
  • Haptics
  • Multilateral control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Gravity compensation for improvement of operationarity in bilateral teleoperation. / Takei, Takayoshi; Shimono, Tomoyuki; Kubo, Ryogo; Nishi, Hiroaki; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 128, No. 6, 2008.

Research output: Contribution to journalArticle

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