TY - JOUR
T1 - Gravity compensation for improvement of operationarity in bilateral teleoperation
AU - Takei, Takayoshi
AU - Shimono, Tomoyuki
AU - Kubo, Ryogo
AU - Nishi, Hiroaki
AU - Ohnishi, Kouhei
PY - 2008/12/1
Y1 - 2008/12/1
N2 - In this paper, the estimation method of only gravity and the compensation method of only the disturbance caused by gravity are proposed. The proposed method is able to estimate gravity, even when the system has the unknown posture. The proposed method is based on the concept of "environment quarrier". Then, environment quarry is expanded to multilateral control. In this paper, two dummy robots that are the environment quarrier are implemented besides master-slave system, in order to abstract only gravity disturbance. The proposed method is adaptable, even when mass of master system differs from one of slave system. To verify the viability of the proposed method, experimental results are shown.
AB - In this paper, the estimation method of only gravity and the compensation method of only the disturbance caused by gravity are proposed. The proposed method is able to estimate gravity, even when the system has the unknown posture. The proposed method is based on the concept of "environment quarrier". Then, environment quarry is expanded to multilateral control. In this paper, two dummy robots that are the environment quarrier are implemented besides master-slave system, in order to abstract only gravity disturbance. The proposed method is adaptable, even when mass of master system differs from one of slave system. To verify the viability of the proposed method, experimental results are shown.
KW - Bilateral control
KW - Disturbance observer
KW - Environment quarrier
KW - Gravity compensation
KW - Haptics
KW - Multilateral control
UR - http://www.scopus.com/inward/record.url?scp=72549113971&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=72549113971&partnerID=8YFLogxK
U2 - 10.1541/ieejias.128.767
DO - 10.1541/ieejias.128.767
M3 - Article
AN - SCOPUS:72549113971
VL - 128
SP - 767-774+11
JO - IEEJ Transactions on Industry Applications
JF - IEEJ Transactions on Industry Applications
SN - 0913-6339
IS - 6
ER -