Development of an optical sensor based torque regulation system with friction observer

Chang Wei, Wei Wang, Chiahao Kuo, Quanhe Li, Shigeki Sugano

    研究成果: Conference contribution

    抄録

    Physical human robot interaction has drawn widely interest and is going to be future trend. To realize this, impedance shaping, the ability to achieve an arbitrary impedance behavior is required. In this paper, we introduce an optical sensor based torque regulation method to realize large range impedance shaping, and we design a friction observer to improve positioning accuracy. Experimental results are presented to show it excellent performance.

    本文言語English
    ホスト出版物のタイトルSII 2017 - 2017 IEEE/SICE International Symposium on System Integration
    出版社Institute of Electrical and Electronics Engineers Inc.
    ページ869-874
    ページ数6
    2018-January
    ISBN(電子版)9781538622636
    DOI
    出版ステータスPublished - 2018 2 1
    イベント2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China
    継続期間: 2017 12 112017 12 14

    Other

    Other2017 IEEE/SICE International Symposium on System Integration, SII 2017
    CountryTaiwan, Province of China
    CityTaipei
    Period17/12/1117/12/14

    ASJC Scopus subject areas

    • Modelling and Simulation
    • Instrumentation
    • Artificial Intelligence
    • Computer Science Applications
    • Engineering (miscellaneous)
    • Materials Science (miscellaneous)
    • Control and Optimization

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