DC motor inertia estimation for robust bilateral control

Perera, Asanka G.; Pillai, M. Branesh; Harsha, A. M.; Abeykoon, A. M. Harsha S.

doi:10.1109/iciafs.2014.7069637

Cited by 8 publications

(2 citation statements)

References 23 publications

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“…Acceleration based bilateral control and the reaction forces, while Equation (18) shows the position synchronization. Equations (19) and (20) were derived to determine the acceleration command. Here, K f denotes the force controller constant, and K p denotes the position controller constant.…”

Section: Motion Copying Systemmentioning

confidence: 99%

“…However, a grasped object cannot be subjected to high acceleration because a high grasping force can damage the grasped object and the gripper. Perera et al (19) have estimated the inertia of a rotary motor by using an acceleration motion test, deceleration motion test, inverse motion acceleration test (16) , and their proposed method, namely, the change of inertia observer method. Between any two methods, there exists 15% to 30% difference of inertia.…”

Section: Introductionmentioning

confidence: 99%

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Inertia Compensation of Motion Copying System for Dexterous Object Handling

Chinthaka

Shimono

2018

IEEJ Journal IA

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Conventional motion copying systems are capable of performing repetitive fixed objectives. Motion copying systems can be used to handle different objects and tools. The inertia of the handled object affects the total system inertia of a motion coying system. If the total system inertia of the motion saving phase and motion reproduction phase are different, it affects the force and position tracking performances during motion reproduction. Inertia estimation should be performed in order to expand the applications of motion copying systems. Precise inertia estimation of a motion copying system is a challenging task when the actuator grasps different objects. This paper presents a method to estimate the inertia variation defends on the grasped object and the inertia compensation of a motion copying system while reproducing the recorded motion with different objects. The inertia of the grasped object is estimated by using a simple harmonic motion based method. The performance of the proposed method verified and discussed based on the experimental results.

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Section: Motion Copying Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%