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A method for estimation of operational torque with utilizing a hysteresis model

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2 Author(s)
Kawamoto, M. ; Grad. Sch. of Sci. & Technol., Keio Univ., Yokohama, Japan ; Ohnishi, K.

Along with the population aging, human interactive robots are expected to be introduced in our daily lives especially in developed countries. For such robots, bilateral control is widely researched as a technique for transmission of both position and force information. Reaction force/torque observer (RFOB/RTOB) is often utilized in bilateral control system to estimate reaction force/torque from objects. It achieves a sensorless control system. However, it requires accurate estimation of operational force/torque for precise approximation of reaction force/torque. This paper proposes a method for estimation of operational torque. In this method, a hysteresis model is utilized to reduce vibration which occurs when the velocity shakes at low velocity. The validity of the proposed method is confirmed by experimental results.

Published in:

Access Spaces (ISAS), 2011 1st International Symposium on

Date of Conference:

17-19 June 2011

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