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Workspace-Based Controller Design and Performance Evaluation of MDOF Force Sensorless Bilateral System.
- Source :
-
Electrical Engineering in Japan . Mar2014, Vol. 186 Issue 4, p70-80. 1p. - Publication Year :
- 2014
-
Abstract
- SUMMARY Redundant multi-degree-of-freedom ( MDOF) bilateral system in workspace is expected to be a key technology for the development of next-generation robots because of the variety of feasible tasks. Nowadays, four-channel bilateral structures based on acceleration control have been introduced to realize both position and force tracking in a bilateral control system. Additionally, torque observers have been implemented to facilitate force feedback without the use of torque/force sensors. However, differences in controller composition between the joint space and workspace are still unclear. In particular, observer designs in both spaces are important for a realization of torque/force sensorless bilateral control. This paper presents a performance evaluation of an MDOF force sensorless bilateral system performed by considering the design space of observers by numerical and experimental analyses. © 2013 Wiley Periodicals, Inc. Electr Eng Jpn, 186(4): 70-80, 2014; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.22481 [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 04247760
- Volume :
- 186
- Issue :
- 4
- Database :
- Academic Search Index
- Journal :
- Electrical Engineering in Japan
- Publication Type :
- Academic Journal
- Accession number :
- 92941839
- Full Text :
- https://doi.org/10.1002/eej.22481