Bilateral control using compression type mechanical gravity canceller

Sho Iwata, Kazuki Tanida, Keita Shimamoto, Kouhei Ohnishi, Yasuyuki Yamada

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Many studies on human support robots have been carried out hitherto. Bilateral control based on 4ch bilateral controller is an efficient method for human support. Bilateral control is a method for realizing transmission of force sensation between master system and slave system. However, in the case of multi-degree of freedom system, containing vertical motion, it is difficult to distinguish reaction force and gravity force. Moreover, it is difficult to actuate multi-degree of freedom robots with direct drive motors because the rating of the motors are limited. Therefore, this paper proposes a bilateral control using mechanical gravity canceller. In the proposed system, compression type mechanical gravity canceller (CGC) is used to compensate the gravity force. CGC is a passive gravity compensation mechanism with slider crank mechanisms and compression springs. As a result of this mechanism, gravity force can be completely suppressed. Thus, the proposed system enables vertical bilateral control without gravity effect. Experimental results are given to show the validity of the proposed system.

本文言語English
ホスト出版物のタイトル2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ296-301
ページ数6
ISBN(印刷版)9781479923243
DOI
出版ステータスPublished - 2014
イベント2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
継続期間: 2014 3月 142014 3月 16

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
国/地域Japan
CityYokohama
Period14/3/1414/3/16

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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