Analysis of interaction force of wire-based robot using variable wire rope tension control

Chowarit Mitsantisuk; Thao Phuong Tran; Kiyoshi Ohishi; Shiro Urushihara; Seiichiro Katsura

doi:10.1109/IECON.2009.5415298

Analysis of interaction force of wire-based robot using variable wire rope tension control

Chowarit Mitsantisuk, Thao Phuong Tran, Kiyoshi Ohishi, Shiro Urushihara, Seiichiro Katsura

Department of System Design Engineering

Research output: Contribution to conference › Paper › peer-review

4 Citations (Scopus)

Abstract

In this paper, the objective is to analyze a robot system with consideration the different levels of wire rope tension for human-robot applications. In the controller design, dual disturbance observers with respect to two operation modes, namely the common mode and the differential mode are designed and applied for controlling wire rope tension and interaction force of human. The variable wire rope tension algorithm is proposed to change the mechanical bandwidth according to motion movements. The advantage points of the high mechanical bandwidth and low stiffness transmission are combined together. From the experimental results, the variable wire rope tension control is combined to give the best results on an experimental setup, for the rejection of the vibration effects and for the smooth interaction force.

Original language	English
Pages	3059-3064
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2009.5415298
Publication status	Published - 2009
Event	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009 - Porto, Portugal Duration: 2009 Nov 3 → 2009 Nov 5

Other

Other	35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009
Country/Territory	Portugal
City	Porto
Period	09/11/3 → 09/11/5

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/IECON.2009.5415298

Cite this

@conference{8b3f2d5db4bc40caaf9d0f40508afd3b,

title = "Analysis of interaction force of wire-based robot using variable wire rope tension control",

abstract = "In this paper, the objective is to analyze a robot system with consideration the different levels of wire rope tension for human-robot applications. In the controller design, dual disturbance observers with respect to two operation modes, namely the common mode and the differential mode are designed and applied for controlling wire rope tension and interaction force of human. The variable wire rope tension algorithm is proposed to change the mechanical bandwidth according to motion movements. The advantage points of the high mechanical bandwidth and low stiffness transmission are combined together. From the experimental results, the variable wire rope tension control is combined to give the best results on an experimental setup, for the rejection of the vibration effects and for the smooth interaction force.",

author = "Chowarit Mitsantisuk and Tran, {Thao Phuong} and Kiyoshi Ohishi and Shiro Urushihara and Seiichiro Katsura",

year = "2009",

doi = "10.1109/IECON.2009.5415298",

language = "English",

pages = "3059--3064",

}

TY - CONF

T1 - Analysis of interaction force of wire-based robot using variable wire rope tension control

AU - Mitsantisuk, Chowarit

AU - Tran, Thao Phuong

AU - Ohishi, Kiyoshi

AU - Urushihara, Shiro

AU - Katsura, Seiichiro

PY - 2009

Y1 - 2009

N2 - In this paper, the objective is to analyze a robot system with consideration the different levels of wire rope tension for human-robot applications. In the controller design, dual disturbance observers with respect to two operation modes, namely the common mode and the differential mode are designed and applied for controlling wire rope tension and interaction force of human. The variable wire rope tension algorithm is proposed to change the mechanical bandwidth according to motion movements. The advantage points of the high mechanical bandwidth and low stiffness transmission are combined together. From the experimental results, the variable wire rope tension control is combined to give the best results on an experimental setup, for the rejection of the vibration effects and for the smooth interaction force.

AB - In this paper, the objective is to analyze a robot system with consideration the different levels of wire rope tension for human-robot applications. In the controller design, dual disturbance observers with respect to two operation modes, namely the common mode and the differential mode are designed and applied for controlling wire rope tension and interaction force of human. The variable wire rope tension algorithm is proposed to change the mechanical bandwidth according to motion movements. The advantage points of the high mechanical bandwidth and low stiffness transmission are combined together. From the experimental results, the variable wire rope tension control is combined to give the best results on an experimental setup, for the rejection of the vibration effects and for the smooth interaction force.

UR - http://www.scopus.com/inward/record.url?scp=77951569805&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77951569805&partnerID=8YFLogxK

U2 - 10.1109/IECON.2009.5415298

DO - 10.1109/IECON.2009.5415298

M3 - Paper

AN - SCOPUS:77951569805

SP - 3059

EP - 3064

T2 - 35th Annual Conference of the IEEE Industrial Electronics Society, IECON 2009

Y2 - 3 November 2009 through 5 November 2009

ER -

Analysis of interaction force of wire-based robot using variable wire rope tension control

Abstract

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this