Multi-DOF motion reproduction using motion-copying system with velocity constraint

Shunsuke Yajima, Seiichiro Katsura

Research output: Contribution to journalArticle

25 Citations (Scopus)


This paper analyzes the performance of the motion-copying system based on velocity information. In previous studies, the motion-copying system was proposed for storage and reproduction of haptic information. The motion-copying system is expected to be applied to various fields such as industrial applications, training systems, medical and welfare human assist, and so on. In the conventional method, however, the saved motion cannot be reproduced precisely when the environmental location in the motion-loading phase is different from that in the motion-saving phase. To solve this problem, we proposed the motion-copying system based on velocity information. This paper shows that the proposed method is applied to a 2-degree-of-freedom robot, and the performance is discussed. By using the proposal, it is possible to reproduce the saved motion even though the environmental location is shifted parallel. Finally, the validity of the proposed method is verified by experimental results.

Original languageEnglish
Article number6636073
Pages (from-to)3765-3775
Number of pages11
JournalIEEE Transactions on Industrial Electronics
Issue number7
Publication statusPublished - 2014 Jul



  • Acceleration control
  • Bilateral control
  • Disturbance observer (DOB)
  • Haptics
  • Motion-copying system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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