Sensorless Force Feedback and Haptic Interfacing for Control of Robotic Manipulators
หัวหน้าโครงการ
:
อิทธิเศก นิลกำแหง
ทีมวิจัย
:
อิทธิเศก นิลกำแหง
หัวหน้าโครงการ
วารี กงประเวชนนท์
นักวิจัยที่ปรึกษา
วันที่เริ่มโครงการ
:
16 มี.ค. 2552
วัตถุประสงค์
:
The main objective of this research will be the development of a robotic manipulator with integrated force feedback mechanism and haptic interfacing. It will examine alternative ways to determine the contact force between the robotic arm and its surroundings, which include the use of dedicated force sensors. However, these sensors can be extremely expensive for high-precision applications, and are severely limited by hardware configuration constraints and bandwidth. Therefore, this research will aim to develop a force estimation algorithm that is capable of accurately and efficiently determining environmental forces exerted on the tool tip of the manipulator by using only readily available data, such as displacement, input current and voltage to the actuators. Robust adaptive control theories will be employed to ensure stability and accuracy when system parameters are uncertain, and in the presence of nonlinear dynamics. The proposed algorithms will be tested by simulation and real-time experimentation using a prototype system that is also to be developed.
