2016 Fiscal Year Annual Research Report
The Research on Human Robot Interface Enabled with High Bandwidth Force Servoing for Manipulation of Robotic Arm
| Project/Area Number |
15K18009
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| Research Institution | Waseda University |
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Principal Investigator |
汪 偉 早稲田大学, 理工学術院, 助教 (10598915)
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| Project Period (FY) |
2015-04-01 – 2017-03-31
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| Keywords | force control |
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| Outline of Annual Research Achievements |
The purpose of this research is to develop a high bandwidth torque serving technology for physical human robot interaction applications, which can be utilized for the design of human robot interaction interface device. The research is focused on how to achieve the high bandwidth of torque serving, which means the physical interaction force/torque can be rapidly and precisely measured and also reproduced during the interaction process. This high bandwidth feature will greatly benefit the performance of the device and physical human robot interaction applications.
In order to achieve the research objective, a one degree of freedom device prototype is design and fabricated in the first year, which is able to measure and also generate high resolution torque; in the second year, the device is redesigned in a more compact and elegant way, based on which the control algorithms for torque serving and impedance shaping is implemented. The control performance is evaluated based on the comparison with other technology, such as current based control. The experiment results shows that our system can measure the interaction torque more precisely and also control the interaction torque more precisely and rapidly in a high bandwidth way.
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