Gravity compensation for improvement of operationarity in bilateral teleoperation

Takayoshi Takei; Tomoyuki Shimono; Ryogo Kubo; Hiroaki Nishi; Kouhei Ohnishi

doi:10.1541/ieejias.128.767

Gravity compensation for improvement of operationarity in bilateral teleoperation

Takayoshi Takei, Tomoyuki Shimono, Ryogo Kubo, Hiroaki Nishi, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to journal › Article › peer-review

6 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	767-774+11
Journal	ieej transactions on industry applications
Volume	128
Issue number	6
DOIs	https://doi.org/10.1541/ieejias.128.767
Publication status	Published - 2008 Dec 1

Keywords

Bilateral control
Disturbance observer
Environment quarrier
Gravity compensation
Haptics
Multilateral control

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1541/ieejias.128.767

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title = "Gravity compensation for improvement of operationarity in bilateral teleoperation",

abstract = "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.",

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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

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Gravity compensation for improvement of operationarity in bilateral teleoperation

Abstract

Keywords

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