TY - GEN
T1 - Development of an optical sensor based torque regulation system with friction observer
AU - Wei, Chang
AU - Wang, Wei
AU - Kuo, Chiahao
AU - Li, Quanhe
AU - Sugano, Shigeki
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=85050856196&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85050856196&partnerID=8YFLogxK
U2 - 10.1109/SII.2017.8279332
DO - 10.1109/SII.2017.8279332
M3 - Conference contribution
AN - SCOPUS:85050856196
T3 - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
SP - 869
EP - 874
BT - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/SICE International Symposium on System Integration, SII 2017
Y2 - 11 December 2017 through 14 December 2017
ER -