TY - JOUR
T1 - Shadow robot for teaching motion
AU - Katsura, Seiichiro
AU - Matsumoto, Yuichi
AU - Ohnishi, Kouhei
N1 - Funding Information:
This research was partially supported by the Ministry of Education, Culture, Sports, Science and Technology, Grant-in-Aid for Scientific Research for Young Scientists (A) , 20686019 , 2008.
PY - 2010/7/31
Y1 - 2010/7/31
N2 - Human-friendly robots have begun to spread in society. In the future such robots and intelligent machines should be autonomous in open situations. To give dexterity to a robot, teaching motion is a good candidate. However, there are some problems from the operational point of view due to gravity and friction effects. In this paper, a shadow robot is proposed for teaching motion instead of force sensors. The shadow robot is a novel disturbance compensation method that consists of a twin robot system. Two of the same type of robot are required and they are controlled with the same position, velocity, and acceleration by bilateral acceleration control based on a disturbance observer. One robot is in the teaching motion controlled by a human and the other is unconstrained. Thus the purity of the human force is extracted by subtracting the disturbance torque in the unconstrained robot from the constrained one. As a result, the shadow robot observes the human force with gravity and friction compensation. Since it is possible to apply this concept to a multi-degree-of-freedom system, the human operationality in teaching motion are improved. The experimental results show the viability of the proposed method.
AB - Human-friendly robots have begun to spread in society. In the future such robots and intelligent machines should be autonomous in open situations. To give dexterity to a robot, teaching motion is a good candidate. However, there are some problems from the operational point of view due to gravity and friction effects. In this paper, a shadow robot is proposed for teaching motion instead of force sensors. The shadow robot is a novel disturbance compensation method that consists of a twin robot system. Two of the same type of robot are required and they are controlled with the same position, velocity, and acceleration by bilateral acceleration control based on a disturbance observer. One robot is in the teaching motion controlled by a human and the other is unconstrained. Thus the purity of the human force is extracted by subtracting the disturbance torque in the unconstrained robot from the constrained one. As a result, the shadow robot observes the human force with gravity and friction compensation. Since it is possible to apply this concept to a multi-degree-of-freedom system, the human operationality in teaching motion are improved. The experimental results show the viability of the proposed method.
KW - Acceleration control
KW - Disturbance observer
KW - Force sensing
KW - Motion control
KW - Real-world haptics
KW - Teaching motion
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U2 - 10.1016/j.robot.2010.03.004
DO - 10.1016/j.robot.2010.03.004
M3 - Article
AN - SCOPUS:77955925493
SN - 0921-8890
VL - 58
SP - 840
EP - 846
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
IS - 7
ER -