Gravity estimation and compensation of grasped object for bilateral teleoperation

Koichi Nishimura, Kouhei Ohnishi

研究成果: Paper

抜粋

This paper describes a design method of a master-slave system for grasping and manipulation. A human operator directly touches and manipulates the master manipulator while the slave manipulator grasps an object. A bilateral control method is applied for the system. 4ch controller with disturbance observer and workspace observer is adapted to the system. This controller realizes stable contact with the object and accurate transmission of reaction force from it. Human force and reaction force are estimated by reaction force observer without any force sensor. With this bilateral control method, a human operator feels grasping force, manipulating force and gravity of the grasped object. However, gravity interferes with his manipulation of the object when it is too large. Therefore, a method for gravity estimation and compensation of a grasped object is proposed. A human operator doesn't feel gravity of the object, but feels grasping and manipulating sensation with this method. Simulation and experimental results show the validity of the proposed method.

元の言語English
ページ72-77
ページ数6
DOI
出版物ステータスPublished - 2006 11 21
イベント9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
継続期間: 2006 3 272006 3 29

Other

Other9th IEEE International Workshop on Advanced Motion Control, 2006
Turkey
Istanbul
期間06/3/2706/3/29

    フィンガープリント

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

これを引用

Nishimura, K., & Ohnishi, K. (2006). Gravity estimation and compensation of grasped object for bilateral teleoperation. 72-77. 論文発表場所 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, Turkey. https://doi.org/10.1109/AMC.2006.1631635