Stability analysis and experimental validation of a motion-copying system

Yuki Yokokura; Seiichiro Katsura; Kiyoshi Ohishi

doi:10.1109/TIE.2009.2027927

Stability analysis and experimental validation of a motion-copying system

Yuki Yokokura, Seiichiro Katsura, Kiyoshi Ohishi

Department of System Design Engineering

Research output: Contribution to journal › Article › peer-review

146 Citations (Scopus)

Abstract

This paper examines the stability of our proposed motion-copying system in the case that the environmental mechanical impedance is changed. The system preserves and reproduces the motion of the human operator. The examination of this paper derives the transfer function of the motion-loading system considering the environmental impedance and investigates displacement of the poles with the transition of the environment. Moreover, the experiment with respect to environmental changing is carried out. These results confirm theoretically and experimentally that the motion-copying system is stable even if the environment is changed. The haptic informational processing technique by the motion-copying system is useful for industrial applications and medical engineering.

Original language	English
Pages (from-to)	3906-3913
Number of pages	8
Journal	IEEE Transactions on Industrial Electronics
Volume	56
Issue number	10
DOIs	https://doi.org/10.1109/TIE.2009.2027927
Publication status	Published - 2009

Keywords

Modal decomposition
Motion control
Motion-copying system
Real-world haptics

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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title = "Stability analysis and experimental validation of a motion-copying system",

abstract = "This paper examines the stability of our proposed motion-copying system in the case that the environmental mechanical impedance is changed. The system preserves and reproduces the motion of the human operator. The examination of this paper derives the transfer function of the motion-loading system considering the environmental impedance and investigates displacement of the poles with the transition of the environment. Moreover, the experiment with respect to environmental changing is carried out. These results confirm theoretically and experimentally that the motion-copying system is stable even if the environment is changed. The haptic informational processing technique by the motion-copying system is useful for industrial applications and medical engineering.",

keywords = "Modal decomposition, Motion control, Motion-copying system, Real-world haptics",

author = "Yuki Yokokura and Seiichiro Katsura and Kiyoshi Ohishi",

note = "Funding Information: Manuscript received June 16, 2008; revised July 2, 2009. First published July 28, 2009; current version published September 16, 2009. This work was supported in part by the New Energy and Industrial Technology Development Organization (NEDO) of Japan under the Industrial Technology Research Grant Program 07C46047a in 2007. This paper was presented in part at the 10th IEEE International Workshop on Advanced Motion Control AMC{\textquoteright}08, Trento, Italy, March 26–28, 2008.",

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doi = "10.1109/TIE.2009.2027927",

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KW - Real-world haptics

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Stability analysis and experimental validation of a motion-copying system

Abstract

Keywords

ASJC Scopus subject areas

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