Gravity estimation and compensation of grasped object for bilateral teleoperation

Koichi Nishimura, Kouhei Ohnishi

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

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
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages72-77
Number of pages6
Volume2006
DOIs
Publication statusPublished - 2006
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

Remote control
Gravitation
Manipulators
Controllers
Compensation and Redress
Sensors

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Nishimura, K., & Ohnishi, K. (2006). Gravity estimation and compensation of grasped object for bilateral teleoperation. In International Workshop on Advanced Motion Control, AMC (Vol. 2006, pp. 72-77). [1631635] https://doi.org/10.1109/AMC.2006.1631635

Gravity estimation and compensation of grasped object for bilateral teleoperation. / Nishimura, Koichi; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. p. 72-77 1631635.

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

Nishimura, K & Ohnishi, K 2006, Gravity estimation and compensation of grasped object for bilateral teleoperation. in International Workshop on Advanced Motion Control, AMC. vol. 2006, 1631635, pp. 72-77, 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey, 06/3/27. https://doi.org/10.1109/AMC.2006.1631635
Nishimura K, Ohnishi K. Gravity estimation and compensation of grasped object for bilateral teleoperation. In International Workshop on Advanced Motion Control, AMC. Vol. 2006. 2006. p. 72-77. 1631635 https://doi.org/10.1109/AMC.2006.1631635
Nishimura, Koichi ; Ohnishi, Kouhei. / Gravity estimation and compensation of grasped object for bilateral teleoperation. International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. pp. 72-77
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