多自由度力センサレスバイラテラルシステムの作業空間における制御設計法と性能評価

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2012/07/01

タイトル(英語): Workspace Based Controller Design and Performance Evaluation of MDOF Force Sensorless Bilateral System

著者名: 堀江　亮介（慶應義塾大学），村上　俊之（慶應義塾大学）

著者名(英語): Ryosuke Horie (Keio University), Toshiyuki Murakami (Keio University)

キーワード: バイラテラルシステム，作業空間，操作性，オブザーバ，多自由度，力センサレス　　bilateral system，workspace，operability，observer，multi-degree-of-freedom，force sensorless

要約(英語): 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.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.132 No.7 （2012）

本誌掲載ページ: 755-763 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/132/7/132_755/_article/-char/ja/