High Accuracy Positioning in SCARA-Type Robot by Sensor-based Decoupling Control

1999 ◽  
Vol 122 (1) ◽  
pp. 166-173 ◽  
Author(s):  
M. Shiraishi ◽  
S. Sugano ◽  
S. Aoshima
Keyword(s):  
Disturbance Observer ◽  
High Speed ◽  
High Accuracy ◽  
Decoupling Control ◽  
Robot Hand ◽  
Nonlinear Feedback Control ◽  
Nonlinear Feedback ◽  
Load Variations ◽  
Acceleration Sensors ◽  
Made In

To compensate for the effects of coupling torque and load variations experienced in SCARA-type robots, we propose a new method of sensor-based decoupling control. In this method the plant is first nominalized with the use of a disturbance observer and then nonlinear feedback control is accomplished by this nominalized system based on information from acceleration sensors installed at the end of the robot hand. As a result of high-speed reciprocal motion with a payload of 10 kg mounted on the hand, we were able to achieve satisfactory decoupling using this method. Improvements were also made in steady-state characteristics. [S1087-1357(00)01201-6]

scholarly journals Development of a Real-Time Human-Robot Collaborative System Based on 1 kHz Visual Feedback Control and Its Application to a Peg-in-Hole Task

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 663
Author(s):  
Yuji Yamakawa ◽  
Yutaro Matsui ◽  
Masatoshi Ishikawa
Keyword(s):  
Real Time ◽  
High Speed ◽  
High Accuracy ◽  
Robot Hand ◽  
Collaborative System ◽  
Visual Sensing ◽  
Hand Control ◽  
The Stability ◽  
Visual Feedback Control ◽  
Human Robot Collaboration

In this research, we focused on Human-Robot collaboration. There were two goals: (1) to develop and evaluate a real-time Human-Robot collaborative system, and (2) to achieve concrete tasks such as collaborative peg-in-hole using the developed system. We proposed an algorithm for visual sensing and robot hand control to perform collaborative motion, and we analyzed the stability of the collaborative system and a so-called collaborative error caused by image processing and latency. We achieved collaborative motion using this developed system and evaluated the collaborative error on the basis of the analysis results. Moreover, we aimed to realize a collaborative peg-in-hole task that required a system with high speed and high accuracy. To achieve this goal, we analyzed the conditions required for performing the collaborative peg-in-hole task from the viewpoints of geometric, force and posture conditions. Finally, in this work, we show the experimental results and data of the collaborative peg-in-hole task, and we examine the effectiveness of our collaborative system.

Copycat hand — robot hand imitating human motions at high speed and with high accuracy

2007 ◽  
Vol 21 (15) ◽  
pp. 1743-1761 ◽  
Author(s):  
Kiyoshi Hoshino ◽  
Emi Tamaki ◽  
Takanobu Tanimoto
Keyword(s):  
High Speed ◽  
High Accuracy ◽  
Robot Hand ◽  
Human Motions

Robust High-Speed Positioning Servo System Based on Disturbance Observer

2009 ◽  
Vol 129 (3) ◽  
pp. 235-242 ◽  
Author(s):  
Masaki Sazawa ◽  
Kiyoshi Ohishi ◽  
Seiichiro Katsura
Keyword(s):  
Disturbance Observer ◽  
High Speed ◽  
Servo System
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