Motion reproduction system considering control bandwidth in force transmission

Takami Miyagi, Seiichiro Katsura

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

4 Citations (Scopus)

Abstract

This paper proposes a new motion reproduction method considering control bandwidth in force transmission system. Recently, the quantitative evaluation of human motion, that can be not covered by conventional robot technology is strongly required. For this, bilateral control that can treat force and position information between master and slave side and motion-copying system which can reproduce the human motion are extremely effective techniques. However, in conventional motion reproduction system, it uses both force and position as command values. There is inconsistency in reproduction because the nature of the 'motion' is the force information. The proposed method is designed by taking into account the roles of the force and position information. In force transmission system, that is bilateral control, position control loop assists force control where force reproduction does not work perfectly. The proposed motion reproduction structure is constructed by considering this fact. It is possible to make the natural 'motion', that is not just force and position commands.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages452-457
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

Keywords

  • Bilateral control
  • Force transmission
  • Motion reproduction
  • Real-world haptics

ASJC Scopus subject areas

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

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