Force capability evaluation methods for bilateral controlled manipulators

Hiromu Sekiguchi, Kouhei Ohnishi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Manipulating force ellipsoid and force polytope are measurements to evaluate force capability of manipulators. This paper extends these measurements to bilateral controlled manipulators. Control goals of bilateral control are synchronizing position and realizing the law of action and reaction between master and slave. In the steady-state, master and slave should output same magnitude force in reverse direction to realize the law. Therefore, force capability of the whole system is regulated by master or slave which has smaller force capability. Thus, an intersection between two force ellipsoids or polytopes of master and slave represents force capability of the system. In this paper, two methods are proposed to evaluate the intersection considering gravity: one is based on force polytopes, and the other is based on manipulating force ellipsoids. Numerical examples are provided to compare characteristics of two methods.

本文言語English
ホスト出版物のタイトルProceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ111-116
ページ数6
ISBN(電子版)9781509045389
DOI
出版ステータスPublished - 2017 5 6
イベント2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia
継続期間: 2017 2 132017 2 15

出版物シリーズ

名前Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017

Other

Other2017 IEEE International Conference on Mechatronics, ICM 2017
国/地域Australia
CityGippsland
Period17/2/1317/2/15

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学
  • 制御と最適化

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