Comparative study of soft motion for motion copying system with environmental variations

Toshiaki Okano, Roberto Oboe, Kouhei Ohnishi, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Technologies for the skill succession and machine automation are strongly demanded in some developed countries under the circumstance of declining working population due to the lower birth rate and the aged society. Motion copying system (MCS) is one of the methods for the skill succession and machine automation. MCS is able to play back the saved motion in the case that the environmental conditions between the saving and the loading phases are the same. Conventionally, the pure position controller, the pure force controller, or Hybrid Position and Force Control (HPFC) is applied to MCS. The reproduction performance is, however, degraded when the environmental variations happen. In such case, impedance control is applicable to MCS instead of HPFC. The purpose of this paper is to conduct the comparative study of some control strategies: position control, force control, HPFC, the Position-Based Impedance Control (PBIC), and the Force-Based Impedance Control (FBIC), and clarify which control strategy is appropriate for the tasks. Simulations were conducted for supporting the argument.

Original languageEnglish
Title of host publicationAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages646-651
Number of pages6
Volume2018-July
ISBN (Print)9781538618547
DOIs
Publication statusPublished - 2018 Aug 30
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
Duration: 2018 Jul 92018 Jul 12

Other

Other2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
CountryNew Zealand
CityAuckland
Period18/7/918/7/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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