バイラテラル遠隔操作における操作性向上のための重力補償 [in Japanese] Gravity Compensation for Improvement of Operationarity in Bilateral Teleoperation [in Japanese]
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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.
- IEEJ Transactions on Sensors and Micromachines
IEEJ Transactions on Sensors and Micromachines 128(6), 767-774, 2008-06-01
The Institute of Electrical Engineers of Japan