Gravity estimation and compensation of grasped object for bilateral teleoperation

Koichi Nishimura, Kouhei Ohnishi

Research output: Contribution to conferencePaper

4 Citations (Scopus)

Abstract

This paper describes a design method of a master-slave system for grasping and manipulation. A human operator directly touches and manipulates the master manipulator while the slave manipulator grasps an object. A bilateral control method is applied for the system. 4ch controller with disturbance observer and workspace observer is adapted to the system. This controller realizes stable contact with the object and accurate transmission of reaction force from it. Human force and reaction force are estimated by reaction force observer without any force sensor. With this bilateral control method, a human operator feels grasping force, manipulating force and gravity of the grasped object. However, gravity interferes with his manipulation of the object when it is too large. Therefore, a method for gravity estimation and compensation of a grasped object is proposed. A human operator doesn't feel gravity of the object, but feels grasping and manipulating sensation with this method. Simulation and experimental results show the validity of the proposed method.

Original languageEnglish
Pages72-77
Number of pages6
DOIs
Publication statusPublished - 2006 Nov 21
Event9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
Duration: 2006 Mar 272006 Mar 29

Other

Other9th IEEE International Workshop on Advanced Motion Control, 2006
CountryTurkey
CityIstanbul
Period06/3/2706/3/29

    Fingerprint

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Nishimura, K., & Ohnishi, K. (2006). Gravity estimation and compensation of grasped object for bilateral teleoperation. 72-77. Paper presented at 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey. https://doi.org/10.1109/AMC.2006.1631635