The Proceedings of the Dynamics & Design Conference
Online ISSN : 2424-2993
2023
Session ID : A33
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Teleoperation of Pneumatic Manipulators using Force-Projecting Bilateral Control
*Daisuke HARAGUCHIRin MONDEN
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Abstract

In this paper, the effectiveness of the Force-Projecting bilateral control for pneumatic manipulators is presented. In recent years, pneumatic manipulators are actively developed to take advantages of lightweight and high power, high backdrivability, environmental resistance, and so on. However, conventional bilateral control methods are not suitable for pneumatic manipulators with response delays and low positioning rigidity. This study focuses the Force-Projecting bilateral control method to solve this issue, which is originally used for a force-amplifying manipulator. Numerical analysis and experimental verification were performed using 1-DOF master-follower system. Compared to the conventional Force-Reflecting type, the proposed Force-Projecting type was shown to be clearly superior in terms of both positioning rigidity and force control stability.

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© 2023 The Japan Society of Mechanical Engineers
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