TY - GEN
T1 - Multi-layer Observers Design for Force Control with Robot Finger Pad by Using Element Description Method
AU - Egawa, Kosuke
AU - Katsura, Seiichiro
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In order to adapt robot hand to daily movements, it is necessary to control the finger pad force. There is an affinity between the elastic joint, which is the mechanism that can press the finger pad, and the two-mass resonance system (TMRS) that can estimate the force at the tip. However there are some elements in the elastic joint that cannot be modeled by TMRS. The elements are include an error caused by the use of a nonlinear spring called rubber in this mechanism, and an error caused by friction generated in this mechanism, which was not generated in the conventional TMRS. Therefore, in this paper, we propose to model those elements by element description method. In order to verify the effectiveness of this method, we verified the accuracy of the value estimated by TMRS in some postures.
AB - In order to adapt robot hand to daily movements, it is necessary to control the finger pad force. There is an affinity between the elastic joint, which is the mechanism that can press the finger pad, and the two-mass resonance system (TMRS) that can estimate the force at the tip. However there are some elements in the elastic joint that cannot be modeled by TMRS. The elements are include an error caused by the use of a nonlinear spring called rubber in this mechanism, and an error caused by friction generated in this mechanism, which was not generated in the conventional TMRS. Therefore, in this paper, we propose to model those elements by element description method. In order to verify the effectiveness of this method, we verified the accuracy of the value estimated by TMRS in some postures.
KW - 2-mass resonant system
KW - Disturbance observer
KW - Elastic joint
KW - Reaction force observer
UR - http://www.scopus.com/inward/record.url?scp=85143915075&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85143915075&partnerID=8YFLogxK
U2 - 10.1109/IECON49645.2022.9968542
DO - 10.1109/IECON49645.2022.9968542
M3 - Conference contribution
AN - SCOPUS:85143915075
T3 - IECON Proceedings (Industrial Electronics Conference)
BT - IECON 2022 - 48th Annual Conference of the IEEE Industrial Electronics Society
PB - IEEE Computer Society
T2 - 48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022
Y2 - 17 October 2022 through 20 October 2022
ER -