Motion reproduction for flexible structure using wave-based load disturbance observer

Koya Nambo, Seiichiro Katsura

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

Abstract

Motion-copying system (MCS) is one of the effective method for saving and reproducing the human motion. By using MCS, we can choose the appropriate data depending on the various situation and reproduce by using robot. In MCS, the performance of motion reproduction is important. However, in real industrial apprication, vibration is caused by mechanical resonances. Then, performance of motion reproduction is degraded. To avoid the performance degradation, we propose motion reproduction method considering vibration suppression. By using proposed method, precise motion reproduction using flexible structure is achieved. The effectiveness of the proposed method is verified by simulations.

Original languageEnglish
Title of host publicationProceedings - 2019 IEEE International Conference on Industrial Technology, ICIT 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages750-755
Number of pages6
ISBN (Electronic)9781538663769
DOIs
Publication statusPublished - 2019 Feb 1
Event2019 IEEE International Conference on Industrial Technology, ICIT 2019 - Melbourne, Australia
Duration: 2019 Feb 132019 Feb 15

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology
Volume2019-February

Conference

Conference2019 IEEE International Conference on Industrial Technology, ICIT 2019
CountryAustralia
CityMelbourne
Period19/2/1319/2/15

Keywords

  • Communication disturbance observer
  • Motion reproduction
  • Motion-copying system
  • Vibration suppression control
  • Wave system

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Nambo, K., & Katsura, S. (2019). Motion reproduction for flexible structure using wave-based load disturbance observer. In Proceedings - 2019 IEEE International Conference on Industrial Technology, ICIT 2019 (pp. 750-755). [8755155] (Proceedings of the IEEE International Conference on Industrial Technology; Vol. 2019-February). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2019.8755155