Workspace based force sensorless bilateral control with multi-degree-of-freedom motion systems

Antoine Lasnier, Toshiyuki Murakami

研究成果: Conference contribution

23 被引用数 (Scopus)

抄録

Bilateral teleoperation is expected to be a key technology for the next generation of robots. Recently, four channel bilateral structures based on acceleration control have been introduced to realize both position and force tracking. Additionally, torque observers have been implemented to enable force feedback without sensors. However, when extended to the case of redundant manipulators, such joint space based control schemes show some limitations due to the use of the inverse jacobian matrix. In order to address this issue, a workspace based bilateral control structure is proposed. In other words, the joint torque reference is synthesized by using the equivalent mass matrix without computing the inverse kinematics. The originality of the proposed approach lies in the design of a workspace force observer that equivalently estimates the reaction force in Cartesian space. Experimental results are provided to show the efficiency of the proposed workspace based bilateral control.

本文言語English
ホスト出版物のタイトルAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
ページ583-588
ページ数6
DOI
出版ステータスPublished - 2010 6月 25
イベント2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
継続期間: 2010 3月 212010 3月 24

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
国/地域Japan
CityNagaoka, Niigata
Period10/3/2110/3/24

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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