Recognition of Elastic Characteristic of Object Using Pneumatic Parallel Manipulator

Masahiro Takaiwa; Toshiro Noritsugu; Kenichi Fujie

doi:10.11499/sicep.2002.0.380.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.380.0

会議情報

主催: The Society of Instrument and Control Engineers

共催: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Recognition of Elastic Characteristic of Object Using Pneumatic Parallel Manipulator

Masahiro Takaiwa, Toshiro Noritsugu, Kenichi Fujie

著者情報

キーワード: Pneumatic driving system, Parallel Manipulator, VR, Compliance control, Disturbance observer

会議録・要旨集フリー

p. 380

詳細

抄録

The goal of this study is to develop a mechanical system that can display elastic characteristic of an object aiming at the application in the field of virtual reality. Pneumatic parallel manipulator is introduced as a driving mechanism, consequently, which brings capability of minute force displaying property owing to the air compressibility. Compliance control system without using force/moment sensor is constructed by introducing a disturbance observer and a compliance display scheme is proposed. The validity of the proposed scheme is verified experimentally.

責任著者(Corresponding author)

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