Improvement in force control with force projection for 2-DOF tendon-driven spherical joint mechanisms

Keita Shimamoto, Kento Watanabe, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

Recently, more and more master-slave robots have been developed. Those robots can make contacts with remote environment with appropriate force when force sensation is transmitted to operators with bilateral control. The transmitted force sensation depends on the performance of force control. In addition, human cannot feel clear force sensation when the robot has large inertia because manipulating them smoothly is hard. Therefore, tendon-driven spherical joint mechanisms are suited for the system. However, precise force control for the mechanisms has not been proposed. In this research, force control for the mechanisms is proposed. The method utilizes projection of force acting on the sphere. In addition, the compensation of disturbance force is also realized by projecting the force to the plane. The results of experiments show realization of precise force control and compensation of disturbance force.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics, ICM 2013
Pages286-291
Number of pages6
DOIs
Publication statusPublished - 2013 Jul 1
Event2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
Duration: 2013 Feb 272013 Mar 1

Publication series

Name2013 IEEE International Conference on Mechatronics, ICM 2013

Other

Other2013 IEEE International Conference on Mechatronics, ICM 2013
CountryItaly
CityVicenza
Period13/2/2713/3/1

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Shimamoto, K., Watanabe, K., & Ohnishi, K. (2013). Improvement in force control with force projection for 2-DOF tendon-driven spherical joint mechanisms. In 2013 IEEE International Conference on Mechatronics, ICM 2013 (pp. 286-291). [6518550] (2013 IEEE International Conference on Mechatronics, ICM 2013). https://doi.org/10.1109/ICMECH.2013.6518550