Paper Titles
Unfalsified Control to a pH Neutralization Process with Noisy Measurements
p.450
Parametric Performances of a Petahertz Band Nano-Patch Dipole Antenna on Electrical Field Distribution for Energy Harvesting
p.454
Effect of Electrical Field Resonances due to Perturbation Slit Tunnel Junction for a Potential Solar Energy Collector at 10 Micrometer Radiation
p.458
Angle Sensor Based on Golden Spiral–Shaped Tapered Ring Resonator Using Finite Difference Time-Domain Method
p.462
An Analysis of Force Response by Using Spectrogram
p.466
Error Analysis of 4-Crossing Hall Sensor with Frequency Domain in Measurement of Material Imperfection
p.471
Unrelated Parallel Machine Scheduling with Sequence-Dependent Setup Times in Frozen Food Industry
p.475
An Artificial Neural Network Model for Chilling Environment Control in Meat Production
p.479
A Randomized Approach in Identifying High Quality Force Closure Grasp from Contact Points in Real Time
p.483

An Analysis of Force Response by Using Spectrogram

Article Preview

Abstract:

In haptic technology, robot has to contact with objects and human operator. The robot systems must be flexible systems, high accuracy and precision during the operation for safe the human operator. So, analysis of the force response is a necessary ability to design the controller of the robot systems. This paper proposes a methodology to analyze force response by mean of spectrogram analysis. The master-slave robot based on bilateral control is used by human operator. Disturbance Observe (DOB) is used to estimate the force response instead of force sensor to improve the performance of the whole system. Finally, force response is analyzed by spectrogram. The availability of the proposed method is shown in an experiment.

You might also be interested in these eBooks
Advanced Engineering Research View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volume 781)

Pages:

466-470

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.781.466

Citation:

Cite this paper

Online since:

August 2015

Authors:

Napol Varachitchai*, Chowarit Mitsantisuk

Keywords:

Bilateral Control System, Disturbance Observer, Master-Slave Robot, Short-Time Fourier Transform, Spectrogram, Wrist Rehabilitation Robot

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

© 2015 Trans Tech Publications Ltd. All Rights Reserved

Share:

Citation:

* - Corresponding Author

References

[1] H. Kobayashi, S. Katsura, K. Ohnishi An Analysis of Parameter Variations of Disturbance Observer for Motion Control, IEEE Trans. Ind. Electron., vol. 54, no. 6, December (2007).

DOI: 10.1109/tie.2007.905948

Google Scholar

[2] D. A. Lawrence: Stability and Transparency in Bilateral Teleoperation, IEEE Transactions on Robotics and Automation, Vol. 9, No. 5, p.624–637, (1993).

DOI: 10.1109/70.258054

Google Scholar

[3] N. Tsunashima, S. Katsura, Bilateral control based on human model for haptic communication, Advanced Motion Control, 2010 11th IEEE International Workshop on, pp.319-324, (2010).

DOI: 10.1109/amc.2010.5464114

Google Scholar

[4] Shiufun Cheung, J.S. Lim, Combined multi-resolution (wideband/narrowband) spectrogram, Acoustics, Speech, and Signal Processing. ICASSP-91, vol. 1, no. 11, pp.457-460, (1991).

DOI: 10.1109/icassp.1991.150375

Google Scholar