著者

林田 宣宏 矢向 高弘 村上 俊之 大西 公平

出版者

公益社団法人精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.67, no.11, pp.1834-1838, 2001-11-05

参考文献数

5

被引用文献数

12 13

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A bilateral robot is one of the remote control robots. By implementing the force feed back, it is possible for the operator to have the sense of the touch. But the force sensor is affected by unknown disturbance such as its temperature variation and so on. For that reason, it is not expected to use the force sensor at the extreme situation. In the sensorless approach, the reaction torque observer is used. But the reaction observer is easy to be influenced of the friction. This makes it difficult to estimate the external force. To address the above issue, this article proposes a twin drive system. This system is composed of two motors and one differential mechanism. It is required to control two motors for two degrees of freedom. To consider the above issue, two virtual motors are proposed. One is deal with the output control and the other is for friction compensation. The twin drive system brings a sophisticated ability to the system, which is a reduction ability of the friction. By using this system, it is possible to realize the remote control robot, where the operator can feel the obstacle which the slave robot touches. This system may help the remote control work more skillfully. The validity of the proposed method is confirmed by the experimental results.

著者

佐藤 秀雄 矢向 高弘

出版者

一般社団法人情報処理学会

雑誌

情報処理学会論文誌 (ISSN:18827764)

巻号頁・発行日

vol.42, no.2, pp.189-196, 2001-02-15

参考文献数

10

被引用文献数

10

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本論文では,遠隔地との力学的インタラクションを実現する新しいメディアを実現するための通信機構を提案する.遠隔地の物体の質感を利用者側で表現するためには,遠隔地と利用者側との間で短い周期の分散フィードバック制御を行う必要がある.そこで,リアルタイム処理が厳しい時間制約を満たしつつ利用可能な通信機構としてRT-Messengerを提案する.RT-Messengerは,リアルタイム性を持たない通信媒体を用いてもリアルタイム処理内での通信を可能にする機構である.本通信機構をRT-Linux上に実装し,制御情報を交わす分散フィードバック制御を試みた.その結果,1? [msec]周期のリアルタイム処理ごとに通信を交わすことに成功し,また制御周期の揺れ幅を1.5? [%]以内に収めることができた.This paper proposes a new communication mechanism for new media whichcan realize dynamical interactions between local and remote site. Inorder to express the feel of touch, a feedback control is requiredwith short sampling period. To address this issue, RT-Messenger wasproposed and implemented. RT-Messenger is a new communicationmechanism which makes it possible for real-time applications tosatisfy these time constraints. This mechanism is device independent,i.e., it can work without any real-time communication media. Toevaluate the performance of proposed mechanism, a feedback control wasimplemented with RT-Messenger on RT-Linux. The results show thatcommunication within every 1\,[msec] sampling periods was wellachieved, and the jitter of the control was within 1.5\,[%].