Force feedback by external load estimation from cylinder pressures of hydraulically-driven multiple DOF robot

摘要

This paper shows the result of demonstration of the force feedback method for the single arm type construction robot. The external load is estimated from cylinder pressures and displayed to the operator through a haptic device. In this experiment, however, it was difficult to estimate impulsive forces when the end effector collides with the environment because the angular acceleration was not measured accurately. In order to improve the accuracy of the load estimation, we propose a new method where the angular acceleration is measured accurately by acceleration sensors. From the experiment, we confirmed that the impulsive forces can be estimated more accurately by the new method.