Workspace based force sensorless bilateral control with multi-degree-of-freedom motion systems

Antoine Lasnier, Toshiyuki Murakami

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

21 Citations (Scopus)

Abstract

Bilateral teleoperation is expected to be a key technology for the next generation of robots. Recently, four channel bilateral structures based on acceleration control have been introduced to realize both position and force tracking. Additionally, torque observers have been implemented to enable force feedback without sensors. However, when extended to the case of redundant manipulators, such joint space based control schemes show some limitations due to the use of the inverse jacobian matrix. In order to address this issue, a workspace based bilateral control structure is proposed. In other words, the joint torque reference is synthesized by using the equivalent mass matrix without computing the inverse kinematics. The originality of the proposed approach lies in the design of a workspace force observer that equivalently estimates the reaction force in Cartesian space. Experimental results are provided to show the efficiency of the proposed workspace based bilateral control.

Original languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages583-588
Number of pages6
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

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ASJC Scopus subject areas

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

Cite this

Lasnier, A., & Murakami, T. (2010). Workspace based force sensorless bilateral control with multi-degree-of-freedom motion systems. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 583-588). [5464065] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464065