A realization of motion copying system based on multilateral control

Yuki Yokokura, Seiichiro Katsura, Kiyoshi Ohishi

研究成果: Article査読

7 被引用数 (Scopus)

抄録

This paper proposes a motion copying system in order to reproduce motion of human operators. The motion copying system consists of both motion saving system and motion loading system based on multilateral controller. The motion saving system is realized by master systems and a slave system. The motion saving system saves motion of a slave system when human operator moves the master systems. At the same time, identity ratio is introduced to decouple the masters motions. The identity ratio of each master system is calculated by force of all master systems, and are saved to memory. On the contrary real-world master systems and a virtual-world slave system realize the motion loading system. The motion loading system reproduces the motion using saved motion data and value of the identity ratio. The paper confirms that the motion saving system and motion loading system based on multilateral controller is generalized. The reproduced position and force correspond to the saved ones by the proposed method.

本文言語English
ページ(範囲)1140-1146
ページ数7
ジャーナルieej transactions on industry applications
128
9
DOI
出版ステータスPublished - 2008

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学

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