Abstract—When a load is added to grasping jaws of a wire-actuated robotic forceps, tracking accuracy of the position of the grasping jaws is degraded due to the elastic elongation of the wire. In the previous work, we have proposed an algorithm that estimates a reaction torque loading the grasping jaws of wire-actuated robotic forceps and compensates for subsequent wire elongation. However, our previous algorithm required an assumption that the motor torque and reaction torque are regarded as constant, although they fluctuate in practice. This paper proposes a new algorithm that eliminates this assumption, resulting much improved accuracy in estimating the reaction torque. The new algorithm is constructed by the combination of the reaction force observer (RFOB) and an optimization problem based on a gradient descent method. The improvement was verified through simulation.
Index Terms—Reaction force observer (RFOB), wire-actuated robotic forceps, estimation of reaction torque, compensation for wire elongation.
Chiharu Ishii is with the Department of Mechanical Engineering, Hosei University, Tokyo 184-8584, Japan (e-mail: c-ishii@hosei.ac.jp).
Gakuto Komada is with the Graduate School of Engineering, Hosei University, Tokyo 184-8584, Japan (e-mail: gakuto.komada.3v@stu.hosei.ac.jp).
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Cite: Chiharu Ishii and Gakuto Komada, "Improvement of an Algorithm for Estimation of Reaction Torque and Compensation for Elongation of Wire for Wire-Actuated Robotic Forceps," International Journal of Materials, Mechanics and Manufacturing vol. 3, no. 2, pp. 69-73, 2015.
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