Fundamental Study on Force-Projecting Bilateral Control for Pneumatically Driven Follower Device

IF 4.6 Q2 MATERIALS SCIENCE, BIOMATERIALS

ACS Applied Bio Materials Pub Date : 2024-01-31 DOI:10.3390/act13020056

Daisuke Haraguchi, Rin Monden

{"title":"Fundamental Study on Force-Projecting Bilateral Control for Pneumatically Driven Follower Device","authors":"Daisuke Haraguchi, Rin Monden","doi":"10.3390/act13020056","DOIUrl":null,"url":null,"abstract":"This paper proposes the application of force-projecting bilateral control to a master-follower teleoperation system with pneumatic drive on the follower side and evaluates its effectiveness. The proposed method directly projects the operating force on the master side to the driving force on the follower side, eliminating the need for both position control and external force detection on the follower side, thereby solving the problem of low rigidity and response delay of a pneumatic servo system and providing highly stable sensor-less force presentation against variable environments. In this study, dynamic response analyses of a 1-DOF master-follower system were performed by numerical simulation using a linear system model, followed by experimental verification by implementing an actual system with an external force estimator. The results showed that the proposed force-projecting bilateral control has significantly higher positioning rigidity and better force control stability than the conventional force-reflecting bilateral control. A theoretical consideration was also given using the equivalent transformation of force transfer functions to provide evidence of high stability.","PeriodicalId":2,"journal":{"name":"ACS Applied Bio Materials","volume":"343 3","pages":""},"PeriodicalIF":4.6000,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"ACS Applied Bio Materials","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.3390/act13020056","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"MATERIALS SCIENCE, BIOMATERIALS","Score":null,"Total":0}

引用次数: 0

Abstract

This paper proposes the application of force-projecting bilateral control to a master-follower teleoperation system with pneumatic drive on the follower side and evaluates its effectiveness. The proposed method directly projects the operating force on the master side to the driving force on the follower side, eliminating the need for both position control and external force detection on the follower side, thereby solving the problem of low rigidity and response delay of a pneumatic servo system and providing highly stable sensor-less force presentation against variable environments. In this study, dynamic response analyses of a 1-DOF master-follower system were performed by numerical simulation using a linear system model, followed by experimental verification by implementing an actual system with an external force estimator. The results showed that the proposed force-projecting bilateral control has significantly higher positioning rigidity and better force control stability than the conventional force-reflecting bilateral control. A theoretical consideration was also given using the equivalent transformation of force transfer functions to provide evidence of high stability.

查看原文本刊更多论文

气动驱动随动装置的力投射双边控制基础研究

本文提出将力投射双边控制应用于从动侧带有气动驱动的主从式远程操纵系统，并对其有效性进行了评估。所提出的方法将主控侧的操作力直接投射到从动侧的驱动力上，省去了从动侧的位置控制和外力检测，从而解决了气动伺服系统刚度低和响应延迟的问题，并在多变环境下提供了高度稳定的无传感器力呈现。本研究利用线性系统模型，通过数值模拟对 1-DOF 主从动系统进行了动态响应分析，然后利用外力估算器对实际系统进行了实验验证。结果表明，与传统的力反射双边控制相比，拟议的力投射双边控制具有更高的定位刚度和更好的力控制稳定性。此外，还利用力传递函数的等效变换进行了理论分析，为高稳定性提供了证据。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

ACS Applied Bio Materials Chemistry-Chemistry (all)

CiteScore

9.40

自引率

2.10%

发文量

464

期刊介绍： ACS Applied Bio Materials is an interdisciplinary journal publishing original research covering all aspects of biomaterials and biointerfaces including and beyond the traditional biosensing, biomedical and therapeutic applications. The journal is devoted to reports of new and original experimental and theoretical research of an applied nature that integrates knowledge in the areas of materials, engineering, physics, bioscience, and chemistry into important bio applications. The journal is specifically interested in work that addresses the relationship between structure and function and assesses the stability and degradation of materials under relevant environmental and biological conditions.