TY - GEN
T1 - Workspace based force sensorless bilateral control with multi-degree-of-freedom motion systems
AU - Lasnier, Antoine
AU - Murakami, Toshiyuki
PY - 2010/6/25
Y1 - 2010/6/25
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77953785405&partnerID=8YFLogxK
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U2 - 10.1109/AMC.2010.5464065
DO - 10.1109/AMC.2010.5464065
M3 - Conference contribution
AN - SCOPUS:77953785405
SN - 9781424466696
T3 - International Workshop on Advanced Motion Control, AMC
SP - 583
EP - 588
BT - AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
T2 - 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Y2 - 21 March 2010 through 24 March 2010
ER -