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 | |
| Publication status | Published - 2009 |
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Keywords
- Modal decomposition
- Motion control
- Motion-copying system
- Real-world haptics
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
Cite this
Stability analysis and experimental validation of a motion-copying system. / Yokokura, Yuki; Katsura, Seiichiro; Ohishi, Kiyoshi.
In: IEEE Transactions on Industrial Electronics, Vol. 56, No. 10, 2009, p. 3906-3913.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Stability analysis and experimental validation of a motion-copying system
AU - Yokokura, Yuki
AU - Katsura, Seiichiro
AU - Ohishi, Kiyoshi
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
KW - Modal decomposition
KW - Motion control
KW - Motion-copying system
KW - Real-world haptics
UR - http://www.scopus.com/inward/record.url?scp=70349617248&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=70349617248&partnerID=8YFLogxK
U2 - 10.1109/TIE.2009.2027927
DO - 10.1109/TIE.2009.2027927
M3 - Article
VL - 56
SP - 3906
EP - 3913
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 10
ER -