Bilateral Robot Hand Based On Estimated Force Feedback

Satoshi Komada; Satoru Inadama; Kouhei Ohnishi

doi:10.1117/12.943015

19 October 1987 Bilateral Robot Hand Based On Estimated Force Feedback

Satoshi Komada, Satoru Inadama, Kouhei Ohnishi

Proceedings Volume 0856, IECON '87: Industrial Applications of Robotics & Machine Vision; (1987) https://doi.org/10.1117/12.943015
Event: IECON, Cambridge, 1987, Cambridge, MA, United States

Abstract

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.

Citation Download Citation

Satoshi Komada, Satoru Inadama, and Kouhei Ohnishi "Bilateral Robot Hand Based On Estimated Force Feedback", Proc. SPIE 0856, IECON '87: Industrial Applications of Robotics & Machine Vision, (19 October 1987); https://doi.org/10.1117/12.943015

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