Robust and Smooth Force Sensor-less Power Assist Control V. Salvucci S. Oh
Robust and Smooth Force Sensor-less Power Assist Control V. Salvucci S. Oh H. Fujimoto The University of Tokyo Y. Hori Power Assist Devices without Force Sensor? Proposed Force Sensor-Less Power Assist Control Results Conclusions References Outline 1 Power Assist Devices without Force Sensor? 2 Proposed Force Sensor-Less Power Assist Control 3 Results Human Input Based Evaluation Rigorous Experimental Verification 4 Conclusions Valerio Salvucci Robust and Smooth Force Sensor-less Power Assist Control The University of Tokyo 2/18 Power Assist Devices without Force Sensor? Proposed Force Sensor-Less Power Assist Control Results Conclusions References Outline 1 Power Assist Devices without Force Sensor? 2 Proposed Force Sensor-Less Power Assist Control 3 Results Human Input Based Evaluation Rigorous Experimental Verification 4 Conclusions Valerio Salvucci Robust and Smooth Force Sensor-less Power Assist Control The University of Tokyo 3/18 Power Assist Devices without Force Sensor? Proposed Force Sensor-Less Power Assist Control Results Conclusions References Power Assist Devices without Force Sensor? Can we control these robots by estimating the user force with cheap sensors? Valerio Salvucci Robust and Smooth Force Sensor-less Power Assist Control The University of Tokyo 4/18 Power Assist Devices without Force Sensor? Proposed Force Sensor-Less Power Assist Control Results Conclusions References Why without Force Sensors? Control key point Why without force sensors? Knowledge of user’s applied force 1 Force Sensor Advantages Low cost Low weight Compactness Faster Response: No delay in force measurement 2 Force Sensor-less Control (encoder based) Valerio Salvucci Robust and Smooth Force Sensor-less Power Assist Control Safety: the robot is a sensor Difficulties Robustness (ex: friction non-linearities) Difficult to provide smooth assistance The University of Tokyo 5/18 Power Assist Devices without Force Sensor? Proposed Force Sensor-Less Power Assist Control Results Conclusions References Outline 1 Power Assist Devices without Force Sensor? 2 Proposed Force Sensor-Less Power Assist Control 3 Results Human Input Based Evaluation Rigorous Experimental Verification 4 Conclusions Valerio Salvucci Robust and Smooth Force Sensor-less Power Assist Control The University of Tokyo 6/18 Power Assist Devices without Force Sensor? Proposed Force Sensor-Less Power Assist Control Results Conclusions References Force Sensor-Less Power Assist Control (FSPAC) Constant gain [Oh 2008] Based on disturbance observer for: Disturbance rejection Force-to-assist estimation Valerio Salvucci Robust and Smooth Force Sensor-less Power Assist Control Variable Gain [Salvucci 2010] VD-TG = Velocity Dependent Triangular Gain (i.e. variable impedance) The University of Tokyo 7/18 Power Assist Devices without Force Sensor? Proposed Force Sensor-Less Power Assist Control Results Conclusions References VD-TG = Velocity Dependent Triangular Gain |va | ≈ |v2 | high high assistance at low speed to overcome inertia and friction |va | VD-TG why |va | < |v1 | 0 no assistance stability in unknown environment |va | ≈ |v2 | high high assistance at low speed to overcome inertia |va | → |v3 | decrease low assistance at high and dangerous speed Valerio Salvucci Robust and Smooth Force Sensor-less Power Assist Control The University of Tokyo 8/18 Power Assist Devices without Force Sensor? Proposed Force Sensor-Less Power Assist Control Results Conclusions References Outline 1 Power Assist Devices without Force Sensor? 2 Proposed Force Sensor-Less Power Assist Control 3 Results Human Input Based Evaluation Rigorous Experimental Verification 4 Conclusions Valerio Salvucci Robust and Smooth Force Sensor-less Power Assist Control The University of Tokyo 9/18 Power Assist Devices without Force Sensor? Proposed Force Sensor-Less Power Assist Control Results Conclusions References Human Input for a “Feeling” Evaluation No assistance Low backdrivability Valerio Salvucci Robust and Smooth Force Sensor-less Power Assist Control Conventional FSPAC Not smooth (oscillatory movements) Unstable Proposed FSPAC Smooth Stable Robust Not Robust The University of Tokyo 10/18 Power Assist Devices without Force Sensor? Proposed Force Sensor-Less Power Assist Control Results Conclusions References Experimental Apparatus High Back-drivable System Low Back-drivable System Actuators: 1 linear motor Actuators: 1 AC motor Sensors: 1 linear encoder Sensors: 1 rotary encoder Motion is transmitted to the door through the linear motor → low friction, and high back-drivable Motion is transmitted to the door through the ball screw system → high friction, and low back-drivable Valerio Salvucci Robust and Smooth Force Sensor-less Power Assist Control The University of Tokyo 11/18 Power Assist Devices without Force Sensor? Proposed Force Sensor-Less Power Assist Control Results Conclusions References Experiment Input Constant-force (in absolute value) input Applied on the doors’ end from position 1 (left) to 2 (right) Valerio Salvucci Robust and Smooth Force Sensor-less Power Assist Control The University of Tokyo 12/18 Power Assist Devices without Force Sensor? Proposed Force Sensor-Less Power Assist Control Results Conclusions References Experimental Results for Low Friction Systems Valerio Salvucci Robust and Smooth Force Sensor-less Power Assist Control The University of Tokyo 13/18 Power Assist Devices without Force Sensor? Proposed Force Sensor-Less Power Assist Control Results Conclusions References Experimental Results for Low Back-drivable Systems Valerio Salvucci Robust and Smooth Force Sensor-less Power Assist Control The University of Tokyo 14/18 Power Assist Devices without Force Sensor? Proposed Force Sensor-Less Power Assist Control Results Conclusions References Outline 1 Power Assist Devices without Force Sensor? 2 Proposed Force Sensor-Less Power Assist Control 3 Results Human Input Based Evaluation Rigorous Experimental Verification 4 Conclusions Valerio Salvucci Robust and Smooth Force Sensor-less Power Assist Control The University of Tokyo 15/18 Power Assist Devices without Force Sensor? Proposed Force Sensor-Less Power Assist Control Results Conclusions References FSPAC with Variable Impedance Works Proposal A simple-to-implement Variable Impedance Controller for Power Assist Robots with low cost Position Sensors Advantages 1 Higher robustness: Experimentally stable for different humidity and room temperature conditions (i.e. friction modeling error) 2 Smoother assistance: Higher assistance to the user at low velocities (=assistance when needed!) Better input tracking 3 Higher safety: No oscillatory torque references and velocities that can cause instability Valerio Salvucci Robust and Smooth Force Sensor-less Power Assist Control The University of Tokyo 16/18 Power Assist Devices without Force Sensor? Proposed Force Sensor-Less Power Assist Control Results Conclusions References Thank you for your kind attention Hori-Fujimoto Lab — Eco and Human-friendly Motion Control— Valerio Salvucci Robust and Smooth Force Sensor-less Power Assist Control The University of Tokyo 17/18 Power Assist Devices without Force Sensor? Proposed Force Sensor-Less Power Assist Control Results Conclusions References References S. Oh and Y. Hori. Generalized discussion on design of force-sensor-less power assist control. In Advanced Motion Control, 2008. AMC ’08. 10th IEEE International Workshop on, pages 492–497, 2008. V. Salvucci, S. Oh, and Y. Hori. New approach to force Sensor-Less power assist control for high friction and high inertia systems. In Industrial Electronics (ISIE), IEEE International Symposium on, pages 3559–3564, 2010. Valerio Salvucci Robust and Smooth Force Sensor-less Power Assist Control The University of Tokyo 18/18
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