TY - GEN
T1 - Estimation of disturbance force caused by thrust wire using a spring and damper model
AU - Kawamoto, Mari
AU - Suzuki, Yusuke
AU - Yashiro, Daisuke
AU - Ohnishi, Kouhei
PY - 2010/12/1
Y1 - 2010/12/1
N2 - The technology in robotics has been developed remarkably in recent years. Especially, usage of robots in medical field, such as telesurgery, is expected more and more along with the population aging. To realize precise surgery, accurate transmission of force sensation is an important issue. Therefore, bilateral control system is taking attention for the application of robots to telesurgery. Bilateral control system consists of motors and encoders. To reduce the weight of robots, the flexible actuator, which is composed of direct drive motor and thrust wire, is a useful device. However, in multi-DOF robots, disturbance force occurs to move the thrust wire and the operability of the robot deteriorates as a result. This paper proposes a spring and damper model to estimate such disturbance force. Estimated disturbance force is evaluated comparing with experimentally obtained values.
AB - The technology in robotics has been developed remarkably in recent years. Especially, usage of robots in medical field, such as telesurgery, is expected more and more along with the population aging. To realize precise surgery, accurate transmission of force sensation is an important issue. Therefore, bilateral control system is taking attention for the application of robots to telesurgery. Bilateral control system consists of motors and encoders. To reduce the weight of robots, the flexible actuator, which is composed of direct drive motor and thrust wire, is a useful device. However, in multi-DOF robots, disturbance force occurs to move the thrust wire and the operability of the robot deteriorates as a result. This paper proposes a spring and damper model to estimate such disturbance force. Estimated disturbance force is evaluated comparing with experimentally obtained values.
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U2 - 10.1109/IECON.2010.5675551
DO - 10.1109/IECON.2010.5675551
M3 - Conference contribution
AN - SCOPUS:78751548629
SN - 9781424452262
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 1263
EP - 1268
BT - Proceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
T2 - 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
Y2 - 7 November 2010 through 10 November 2010
ER -