Development of fast-response master-slave system using high-speed non-contact 3D sensing and high-speed robot hand

This paper focuses on development of a high-speed, low-latency telemanipulated robot hand system, evaluation of the system, and demonstration of the system. The characteristics of the developed system are the followings: non-contact, high-speed 3D visual sensing of the human hand, intuitive motion mapping between human hands and robot hands, and low-latency, fast responsiveness to human hand motion. Such a high-speed, low-latency telemanipulated robot hand system can be considered to be more effective from the viewpoint of usability. The developed system consists of a high-speed vision system, a high-speed robot hand, and a real-time controller. For the developed system, we propose new methods of 3D sensing, mapping between the human hand and the robot hand, and the robot hand control. We evaluated the performance (latency and responsiveness) of the developed system. As a result, the latency of the developed system is so small that humans cannot recognize the latency. In addition, we conducted experiments of opening/closing motion, object grasping, and moving object grasping as demonstrations. Finally, we confirmed the validity and effectiveness of the developed system and proposed method.

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An Approach to Force-Sensorless Bilateral Control in Master-Slave System with Different Configurations

IEEJ Transactions on Industry Applications ◽

10.1541/ieejias.131.777 ◽

2011 ◽

Vol 131 (6) ◽

pp. 777-784 ◽

Cited By ~ 6

Author(s):

Toru Yamashita ◽

Tomoyuki Shimono

Keyword(s):

Slave System ◽

Bilateral Control ◽

Master Slave System

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Direct Current Deadbeat Predictive Controller for BLDC Motor Using Single DC-Link Current Sensor

Engineering and Technology Journal ◽

10.30684/etj.v38i8a.471 ◽

2020 ◽

Vol 38 (8A) ◽

pp. 1187-1199

Author(s):

Qaed M. Ali ◽

Mohammed M. Ezzalden

Keyword(s):

Control System ◽

High Speed ◽

Fast Response ◽

Bldc Motor ◽

Current Controller ◽

Three Phase ◽

Predictive Controller ◽

Two Phases ◽

Dc Current ◽

Three Phase Inverter

BLDC motors are characterized by electronic commutation, which is performed by using an electric three-phase inverter. The direct control system of the BLDC motor consists of double loops; including the inner-loop for current regulating and outer-loop for speed control. The operation of the current controller requires feedback of motor currents; the conventional current controller uses two current sensors on the ac side of the inverter to measure the currents of two phases, while the third current would be accordingly calculated. These two sensors should have the same characteristics, to achieve balanced current measurements. It should be noted that the sensitivity of these sensors changes with time. In the case of one sensor fails, both of them must be replaced. To overcome this problem, it is preferable to use one sensor instead of two. The proposed control system is based on a deadbeat predictive controller, which is used to regulate the DC current of the BLDC motor. Such a controller can be considered as digital controller mode, which has fast response, high precision and can be easily implemented with microprocessor. The proposed control system has been simulated using Matlab software, and the system is tested at a different operating condition such as low speed and high speed.

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