DocumentCode :
3511547
Title :
Analysis of interaction force of wire-based robot using variable wire rope tension control
Author :
Mitsantisuk, Chowarit ; Tran, Thao Phuong ; Ohishi, Kiyoshi ; Urushihara, Shiro ; Katsura, Seiichiro
Author_Institution :
Dept. of Electr. Eng., Nagaoka Univ. of Technol., Nagaoka, Japan
fYear :
2009
fDate :
3-5 Nov. 2009
Firstpage :
3059
Lastpage :
3064
Abstract :
In this paper, the objective is to analyze a robot system with consideration the different levels of wire rope tension for human-robot applications. In the controller design, dual disturbance observers with respect to two operation modes, namely the common mode and the differential mode are designed and applied for controlling wire rope tension and interaction force of human. The variable wire rope tension algorithm is proposed to change the mechanical bandwidth according to motion movements. The advantage points of the high mechanical bandwidth and low stiffness transmission are combined together. From the experimental results, the variable wire rope tension control is combined to give the best results on an experimental setup, for the rejection of the vibration effects and for the smooth interaction force.
Keywords :
control system synthesis; force control; observers; robots; wires; common mode; controller design; differential mode; dual disturbance observers; human-robot application; interaction force control; mechanical bandwidth; stiffness transmission; variable wire rope tension control; vibration effect rejection; wire-based robot; Bandwidth; Control systems; Force control; Force sensors; Humans; Mechanical variables control; Robots; Vibrations; Wheels; Wire;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics, 2009. IECON '09. 35th Annual Conference of IEEE
Conference_Location :
Porto
ISSN :
1553-572X
Print_ISBN :
978-1-4244-4648-3
Electronic_ISBN :
1553-572X
Type :
conf
DOI :
10.1109/IECON.2009.5415298
Filename :
5415298
Link To Document :
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