Motion education system using impedance control based on spatial information

Hiroki Nagashima, Seiichiro Katsura

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

Abstract

In industry, wide varieties of work process have been automated with development of motion control. Factory automation have been sustaining modern mass production in the long run. However, a paradigm shift from mass production to high-mix low-volume production is caused in recent years. In such a production system, manual procedures of craftsmen are necessary from the points of high degrees of their techniques and automation cost. Though training of successors is necessary in order to educate their techniques in each production process, some well-developed countries face severe decrease of labor population caused by super mature society. Then, effective education of their successors is urgent issue. Conventionally, some technical approaches using simulators have been researched. In most of these approaches, the reproduction of feature of the work object is mainly focused. Then, there are few approaches which treat spatial information of motion considering operator's activity. Therefore this paper proposes motion education system based on spatial information. Concretely, the reference motion trajectory is set not by using time function but by using curvilineal equations, and the operator of the proposed education system receives haptic feedback corresponding to trajectory error using impedance control. In this paper, the proposed education system is implemented in 2 DOF (Degree Of Freedom) system. Finally, the effectiveness of the proposed education system is experimentally confirmed.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages242-247
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

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ASJC Scopus subject areas

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

Cite this

Nagashima, H., & Katsura, S. (2014). Motion education system using impedance control based on spatial information. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 242-247). [6823289] (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823289