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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
Reaction force/torque sensing in a master-slave robot system without mechanical sensors
Tao Liu1, Chunguang Li, Yoshio Inoue
1Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, 185 Miyanokuchi, Tosayamada-Cho, Kami-City, Kochi 782-8502, Japan. liu.tao@kochi-tech.ac.jp
Sensors (Basel, Switzerland)
|December 14, 2011
Summary
This study introduces a novel, sensorless force feedback mechanism for master-slave robot systems. The innovative approach enables precise control in challenging environments without traditional force sensors.
Area of Science:
- Robotics
- Control Systems
- Human-Robot Interaction
Background:
- Force feedback is crucial for precision and stability in human-robot cooperative control.
- Traditional methods rely on force/torque sensors, which are impractical for certain applications like robotic surgery or extreme environments.
Purpose of the Study:
- To propose and validate a novel force sensing mechanism for master-slave robot systems that eliminates the need for mechanical sensors.
- To enable force feedback in applications where traditional sensors are not feasible.
Main Methods:
- Developed a master-slave robot system using two identical electro-motors, where the master motor drives the slave motor.
- Implemented a novel force sensing mechanism based on motor interaction, avoiding mechanical sensors.
- Created a bimanual coordinated training platform to test the system.
Main Results:
- The developed system successfully achieved bilateral force sensing between the master and slave terminals.
- Demonstrated mirror-image movements of the two terminals across reverse control directions.
- Verified the efficacy of the sensorless force feedback mechanism through experimental testing.
Conclusions:
- The proposed sensorless force sensing mechanism is effective for implementing force feedback in master-slave robot systems.
- This technology offers a viable solution for force feedback in applications with constraints on traditional sensor mounting.
- The system facilitates precise and stable robotic control in challenging operational settings.
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