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 publicationInternational Workshop on Advanced Motion Control, AMC
Pages583-588
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Other

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

Fingerprint

Workspace
Degree of freedom
Motion
Torque
Acceleration control
Redundant manipulators
Observer
Jacobian matrices
Inverse kinematics
Redundant Manipulator
Remote control
Teleoperation
Force Feedback
Inverse Kinematics
Inverse matrix
Jacobian matrix
Cartesian
Robots
Feedback
Robot

ASJC Scopus subject areas

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

Cite this

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

Workspace based force sensorless bilateral control with multi-degree-of-freedom motion systems. / Lasnier, Antoine; Murakami, Toshiyuki.

International Workshop on Advanced Motion Control, AMC. 2010. p. 583-588 5464065.

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

Lasnier, A & Murakami, T 2010, Workspace based force sensorless bilateral control with multi-degree-of-freedom motion systems. in International Workshop on Advanced Motion Control, AMC., 5464065, pp. 583-588, 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010, Nagaoka, Niigata, Japan, 10/3/21. https://doi.org/10.1109/AMC.2010.5464065
Lasnier A, Murakami T. Workspace based force sensorless bilateral control with multi-degree-of-freedom motion systems. In International Workshop on Advanced Motion Control, AMC. 2010. p. 583-588. 5464065 https://doi.org/10.1109/AMC.2010.5464065
Lasnier, Antoine ; Murakami, Toshiyuki. / Workspace based force sensorless bilateral control with multi-degree-of-freedom motion systems. International Workshop on Advanced Motion Control, AMC. 2010. pp. 583-588
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