Design strategies for motion reproduction based on environmental disturbance compensation

Yuki Nagatsu, Seiichiro Katsura

Research output: Contribution to journalArticle

11 Citations (Scopus)

Abstract

This paper proposes a novel motion reproduction method based on environmental disturbance (EnvDs) compensation. The preservation of skillful techniques is an important issue. Although the motion-copying system (MCS) was proposed to deal with this problem, a clear strategy still does not exist for adapting to the environmental variances between the motion saving and reproduction phases. Conventional methods cannot adapt to the difference properly because their control systems are just one-degree-of-freedom (DOF) control systems. In this paper, variances were defined as EnvDs, and the effect on the MCS was demonstrated. A 2-DOF control system structure was developed to compensate for EnvDs. The effectiveness of the proposed system was demonstrated through analysis and experimental results.

Original languageEnglish
Article number7128689
Pages (from-to)5786-5798
Number of pages13
JournalIEEE Transactions on Industrial Electronics
Volume62
Issue number9
DOIs
Publication statusPublished - 2015 Sep 1

Keywords

  • admittance (compliance) control
  • bilateral control
  • disturbance observer
  • environmental disturbance
  • haptics
  • Motion-copying system
  • two degrees of freedom control system

ASJC Scopus subject areas

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

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