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

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

doi:10.1109/SII.2017.8279332

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

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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.

Original language	English
Title of host publication	SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	869-874
Number of pages	6
Volume	2018-January
ISBN (Electronic)	9781538622636
DOIs	https://doi.org/10.1109/SII.2017.8279332
Publication status	Published - 2018 Feb 1
Event	2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China Duration: 2017 Dec 11 → 2017 Dec 14

Other

Other	2017 IEEE/SICE International Symposium on System Integration, SII 2017
Country/Territory	Taiwan, Province of China
City	Taipei
Period	17/12/11 → 17/12/14

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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10.1109/SII.2017.8279332

Cite this

Development of an optical sensor based torque regulation system with friction observer. / Wei, Chang; Wang, Wei; Kuo, Chiahao et al.
SII 2017 - 2017 IEEE/SICE International Symposium on System Integration. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. p. 869-874.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Wei, C, Wang, W, Kuo, C, Li, Q & Sugano, S 2018, Development of an optical sensor based torque regulation system with friction observer. in SII 2017 - 2017 IEEE/SICE International Symposium on System Integration. vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 869-874, 2017 IEEE/SICE International Symposium on System Integration, SII 2017, Taipei, Taiwan, Province of China, 17/12/11. https://doi.org/10.1109/SII.2017.8279332

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AB - 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.

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

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