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Simulation of enhanced force limiting gripper for bilateral teleoperation

Show simple item record Ruwanthika, RMM Abeykoon, AMHS 2019-07-18T05:55:23Z 2019-07-18T05:55:23Z
dc.description.abstract This paper proposes an enhanced force limiting gripper to avoid object deformation when it is in contact with the slave due to excessive forces imposed by the master operator in bilateral control. The force lock protects the gripped object on the slave and the attainment of the force limit is notified to the master operator via a small vibration. Master operator is expected to experience a spring effect if the operator presses his leaver towards the force increasing direction. The continuous copying of the slave position as the reference to the virtual spring controller’s spring equilibrium point allows smooth releasing. In addition to vibration the loss of reaction force coming from the slave environment could also be sensed by the master operator. Reversing of the applied force on master handle releases the object attached to the slave. In this proposed system sensor-less sensing is used. Disturbance Observer is used to estimate disturbances and Reaction Force Observer estimates reaction forces. The proposed gripper is having a jaw opening of 0.15 m which has linear 1-DOF. Simulation is conducted using real world linear motor parameters and simulation results prove the applicability of proposed system. en_US
dc.language.iso en en_US
dc.subject teleoperation; bilateral control; master slave; force control; gripper; virtual spring control; force lock en_US
dc.title Simulation of enhanced force limiting gripper for bilateral teleoperation en_US
dc.type Conference-Abstract en_US
dc.identifier.faculty Engineering en_US
dc.identifier.department Department of Electrical Engineering en_US
dc.identifier.year 2014 en_US
dc.identifier.conference 7th International Conference on Information and Automation for Sustainability en_US Colombo en_US
dc.identifier.pgnos pp. 1 - 6 en_US en_US en_US
dc.identifier.doi 10.1109/ICIAFS.2014.7069571 en_US

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