Bilateral Robot Hand Based On Estimated Force Feedback
Bilateral Robot Hand Based On Estimated Force Feedback
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基于估计力反馈的双边机械手
DOI：
10.1117/12.943015
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发表时间：
1987
期刊：
影响因子：
--
通讯作者：
K. Ohnishi
中科院分区：
文献类型：
--
作者：
S. Komada;S. Inadama;K. Ohnishi
在主从式机械手系统中实现了一种新颖的双向运动控制方法。在该方法中，从手中既没有力传感器也没有触觉传感器。从手的接触力估计的干扰观测器在基于微处理器的控制器。估计的力是根据从手的速度和电流计算的，用于反馈到主手，以便操作者在一定程度上感觉到从手抓握的物体的触摸质量。从手的位置参考通过主手位置给出。这两个交叉反馈回路在一个微处理器中实现。上述算法在两个类似的机器人手进行了测试。所得到的结果表明，双边运动的足够的性能。
A novel approach to the bilateral motion is realized in the master-slave robot hand system. In the approach, there are neither force sensors nor tactile sensors in the slave hand. The contact force of the slave hand is estimated by the disturbance observer in the microprocessor-based controller. The estimated force is calculated from the velocity and the current of the slave hand for the feedback to the master hand in order that the operator feels the touch quality of the object grasped by the slave hand to some extent. The position reference of the slave hand is given through the master position. These two cross feedback loops are implemented in one microprocessor. The above algorithm is tested in two similar robot hands. The obtained results show the sufficient performance of the bilateral motion.