A method for estimation of operational torque with utilizing a hysteresis model

Mari Kawamoto, Kouhei Ohnishi

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Along with the population aging, human interactive robots are expected to be introduced in our daily lives especially in developed countries. For such robots, bilateral control is widely researched as a technique for transmission of both position and force information. Reaction force/torque observer (RFOB/RTOB) is often utilized in bilateral control system to estimate reaction force/torque from objects. It achieves a sensorless control system. However, it requires accurate estimation of operational force/torque for precise approximation of reaction force/torque. This paper proposes a method for estimation of operational torque. In this method, a hysteresis model is utilized to reduce vibration which occurs when the velocity shakes at low velocity. 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Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011
ページ53-58
ページ数6
DOI
出版ステータスPublished - 2011 8 23
イベント2011 1st International Symposium on Access Spaces, ISAS 2011 - Yokohama, Japan
継続期間: 2011 6 172011 6 19

出版物シリーズ

名前Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011

Other

Other2011 1st International Symposium on Access Spaces, ISAS 2011
国/地域Japan
CityYokohama
Period11/6/1711/6/19

ASJC Scopus subject areas

  • コンピュータ ネットワークおよび通信
  • 電子工学および電気工学

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