A method for estimation of operational torque considering of asymmetric property on bilateral control

Mari Kawamoto, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Bilateral control system is widely researched as a technique for robotic telesurgry, since reaction force from objects is important information for precise surgical operation. Reaction force/torque observer (RFOB/RTOB) realizes sensorless estimation of external force and it has been efficiently utilized for bilateral control. However, precise estimation of operational force is required for accurate estimation of reaction force. Otherwise the operability of the robot deteriorates. In addition, operational force, such as friction force, changes within the range of motion when the structure of the robot is asymmetric. This paper proposes a method for estimation of operational torque considering of the asymmetric property. The validity of the proposed method is confirmed by experimental results.

本文言語English
ホスト出版物のタイトル4th International Conference on Human System Interaction, HSI 2011
ページ209-214
ページ数6
DOI
出版ステータスPublished - 2011 8 11
イベント4th International Conference on Human System Interaction, HSI 2011 - Yokohama, Japan
継続期間: 2011 5 192011 5 21

出版物シリーズ

名前4th International Conference on Human System Interaction, HSI 2011

Other

Other4th International Conference on Human System Interaction, HSI 2011
国/地域Japan
CityYokohama
Period11/5/1911/5/21

ASJC Scopus subject areas

  • 人間とコンピュータの相互作用

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