A bilateral servo system based on estimated force feedback is implemented without a pressure sensor and is applied to a master-slave robot hand. The contact force of the slave hand is estimated by the disturbance observer in the microprocessor-based controller. The estimated force is calculated from the velocity and current of the slave hand, and is fed back to the master hand for the operator to feel the touch quality of the object grasped by the slave hand. The position reference of the slave hand is given through the master position. These two cross-feedback loops are implemented in one microprocessor. The algorithm is tested in two similar robot hands. The obtained results show the sufficient performance of the bilateral motion.
|出版ステータス||Published - 1987 12 1|
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