Object identification using reaction force from disturbance observer in a tele-operated robot system

摘要

Many researchers have contribute to identify the properties of object using various method such as vision, sharp and color. However, stiffness of object and resonance also the same as the object property which is acquirable by haptic device. The bilateral control is a new method to explore unknown environment as the robot contact with unknown object and force feedback from disturbance observer is applied to operator. This paper proposes a methodology to classify the objects by a force analysis. Master-Slave robot based on bilateral control is used to knock the objects. Then the motion copying system is used to save data of knocking force and replay again to make each knocking forces equal. Finally the force response which is estimated by disturbance observer (DOB) is analyzed by using Fast Fourier transform.