Force control of humanrobot interaction using twin direct-drive motor system based on modal space design

IEEE Transactions on Industrial Electronics

Volumn 57, Issue 4, 2010, Pages 1383-1392

  Mitsantisuk, Chowarit ^a   Katsura, Seiichiro ^b   Ohishi, Kiyoshi ^a  

^a NAGAOKA UNIVERSITY OF TECHNOLOGY   (Japan)

^b KEIO UNIVERSITY   (Japan)

Author keywords

Acceleration control; Disturbance observer; Environmental information; Haptics; Human interaction; Modal space design; Motion control; Sensorless force control

Indexed keywords

ENVIRONMENTAL INFORMATION; HAPTICS; HUMAN INTERACTION; HUMAN INTERACTIONS; MODAL SPACE DESIGN; SENSORLESS FORCE CONTROL;

ACCELERATION CONTROL; DESIGN; ELECTRIC CONVERTERS; FRICTION; HUMAN ROBOT INTERACTION; MOTION CONTROL; MOTION PLANNING; OBSERVABILITY; PARTIAL DISCHARGES; WIRE; WIRE ROPE;

FORCE CONTROL;

EID: 77949420292     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2009.2030218     Document Type: Article

References (33)

1. E. Ishii, H. Nishi, and K. Ohnishi, "Improvement of performances in bilateral teleoperation by using FPGA," IEEE Trans. Ind. Electron., vol.54, no.4, pp. 1876-1884, Aug. 2007.
2. P. Puangmali, K. Althoefer, L. D. Seneviratne, D. Murphy, and P. Dasgupta, "State-of-the-art in force and tactile sensing for minimally invasive surgery," IEEE Sensors J., vol.8, no.4, pp. 371-381, Apr. 2008.
3. D. T. Nguyen, S.-R. Oh, and B.-J. You, "A framework for Internet-based interaction of humans, robots, and responsive environments using agent technology," IEEE Trans. Ind. Electron., vol.52, no.6, pp. 1521-1529, Dec. 2005.
4. R. C. Luo and K. L. Su, "Multilevel multisensor-based intelligent recharging system for mobile robot," IEEE Trans. Ind. Electron., vol.55, no.1, pp. 270-279, Jan. 2008.
5. S. Tashiro and T. Murakami, "Step passage control of a power-assisted wheelchair for a caregiver," IEEE Trans. Ind. Electron., vol.55, no.4, pp. 1715-1721, Apr. 2008.
6. J. Miyata, Y. Kaida, and T. Murakami, "v-θ-coordinate-based powerassist control of electric wheelchair for a caregiver," IEEE Trans. Ind. Electron., vol.55, no.6, pp. 2517-2524, Jun. 2008.
7. M. Frey, G. Colombo, M. Vaglio, R. Bucher, M. Jorg, and R. Riener, "A novel mechatronic body weight support system," IEEE Trans. Rehabil. Eng., vol.14, no.3, pp. 311-321, Sep. 2006.
8. W. T. Townsend and J. A. Guertin, "Teleoperation slave-WAM design methodology," Ind. Robot, vol.26, no.3, pp. 167-177, 1997.
9. Y. Yamada, Y. Hirasawa, S. Huang, Y. Umetani, and K. Suita, "Human-robot contact in the safeguarding space," IEEE/ASME Trans. Mechatronics, vol.2, no.4, pp. 230-236, Dec. 1997.
10. H. Y. K. Lau and L. C. C. Wai, "Implementation of position-force and position-position teleoperator controllers with cable-driven mechanisms," Robot. Comput.-Integr. Manuf., vol.21, no.2, pp. 145-152, Apr. 2005.
11. T. Slama, A. Trevisani, D. Aubry, R. Oboe, and F. Kratz, "Experimental analysis of an Internet-based bilateral teleoperation system with motion and force scaling using a model predictive controller," IEEE Trans. Ind. Electron., vol.55, no.9, pp. 3290-3299, Sep. 2008.
12. S. Hara, "A smooth switching from power-assist control to automatic transfer control and its application to a transfer machine," IEEE Trans. Ind. Electron., vol.54, no.1, pp. 638-650, Feb. 2007.
13. G. Ferretti, G. Magnani, and P. Rocco, "Impedance control for elastic joints industrial manipulators," IEEE Trans. Robot. Autom., vol.20, no.3, pp. 488-498, Jun. 2004.
14. S. Katsura, K. Ohnishi, and K. Ohishi, "Transmission of force sensation by environment quarrier based on multilateral control," IEEE Trans. Ind. Electron., vol.54, no.2, pp. 898-906, Apr. 2007.
15. S. Katsura, Y. Matsumoto, and K. Ohnishi, "Modeling of force sensing and validation of disturbance observer for force control," IEEE Trans. Ind. Electron., vol.54, no.1, pp. 530-538, Feb. 2007.
16. K. Ohishi, K. Ohnishi, and K. Miyachi, "Torque-speed regulation of DC motor based on load torque estimation," in Proc. IEEJ IPEC, Tokyo, Japan, Mar. 1983, vol.2, pp. 1209-1216.
17. K. Ohnishi, M. Shibata, and T. Murakami, "Motion control for advanced mechatronics," IEEE/ASME Trans.Mechatronics, vol.1, no.1, pp. 56-57, Mar. 1996.
18. H. Kobayashi, S. Katsura, and K. Ohnishi, "An analysis of parameter variations of disturbance observer for motion control," IEEE Trans. Ind. Electron., vol.54, no.6, pp. 3413-3421, Dec. 2007.
19. S. Katsura, K. Irie, and K. Ohishi, "Wideband force control by positionacceleration integrated disturbance observer," IEEE Trans. Ind. Electron., vol.55, no.4, pp. 1699-1706, Apr. 2008.
20. C. J. Kempf and S. Kobayashi, "Disturbance observer and feedforward design for a high-speed direct-drive positioning table," IEEE Trans. Control Syst. Technol., vol.7, no.5, pp. 513-526, Sep. 1999.
21. N. Matsui, T. Makino, and H. Satoh, "Autocompensation of torque ripple of direct drive motor by torque observer," IEEE Trans. Ind. Appl., vol.29, no.1, pp. 187-194, Jan./Feb. 1993.
22. T. Murakami, F. Yu, and K. Ohnishi, "Torque sensorless control in multidegree-of-freedom manipulator," IEEE Trans. Ind. Electron., vol.40, no.2, pp. 259-265, Apr. 1993.
23. Y. Tan, J. Chang, and H. Tan, "Adaptive backstepping control and friction compensation for AC servo with inertia and load uncertainties," IEEE Trans. Ind. Electron., vol.50, no.5, pp. 944-952, Oct. 2003.
24. W. Panusittikorn, M. C. Lee, and P. I. Ro, "Modeling and slidingmode control of friction-based object transport using two-mode ultrasonic excitation," IEEE Trans. Ind. Electron., vol.51, no.4, pp. 917-926, Aug. 2004.
25. N. Hayashida, T. Yakoh, T. Murakami, and K. Ohnishi, "A sensorless force control in twin drive system," in Proc. 27nd IEEE IECON, Nagoya, Japan, Oct. 2000, vol.3, pp. 2231-2236.
26. Y. Uchimura and T. Yakoh, "Bilateral robot system on the real-time network structure," IEEE Trans. Ind. Electron., vol.51, no.5, pp. 940-946, Oct. 2004.
27. T. Tsuji, K. Ohnishi, and A. Sabanovic, "A controller design method based on functionality," IEEE Trans. Ind. Electron., vol.54, no.6, pp. 3335-3343, Dec. 2007.
28. S. Katsura and K. Ohishi, "Modal system design of multi-robot systems by interaction mode control," IEEE Trans. Ind. Electron., vol.54, no.3, pp. 1537-1546, Jun. 2007.
29. C. Mitsantisuk, S. Katsura, and K. Ohishi, "Sensorless interaction force control based on modal space design for twin belt-driven system," in Proc. 46th SICE Annu. Conf., Takamatsu, Japan, Sep. 2007, pp. 2327-2332.
30. S. Katsura, T. Suzuyama, and K. Ohishi, "A realization of multilateral force feedback control for cooperative motion," IEEE Trans. Ind. Electron., vol.54, no.6, pp. 3298-3306, Dec. 2007.
31. V. G. Kagan, "Belt shape stabilization in continuous twin-belt casting machine," in Conf. Rec. IEEE IAS Annu. Meeting, Oct. 2000, vol.4, pp. 2566-2571.
32. A. Hace, K. Jezernik, and A. Sabanovic, "SMC with disturbance observer for a linear belt drive," IEEE Trans. Ind. Electron., vol.54, no.6, pp. 3402-3412, Dec. 2007.
33. S. Tungpataratanawong, S. Chitbanchong, T. Miyazaki, S. Katsura, and K. Ohishi, "Force sensor-less workspace virtual impedance control considering resonant vibration for industrial robot," IEEJ Trans. Ind. Appl., vol.127-D, no.1, pp. 1-8, Jan. 2007.