Controller design for reproduction of grasping/manipulation motion of grasping objects with different diameters

Shunsuke Yajima, Eiichi Saito, Seiichiro Katsura

研究成果: Article

4 引用 (Scopus)

抄録

This paper proposes a controller design method for the reproduction of multi-degree-of-freedom (DOF) motion. For the storage and reproduction of haptic information, a motion-copying system was proposed. In the conventional method, however, it is difficult to reproduce the saved motion when the environmental configuration in the motionloading phase is different from that in the motion-saving phase. This problem can be solved by the proposed method. The proposed design procedures are divided into two steps. First, a control structure with a different environmental configuration is proposed, and it is shown that the difference in the environmental configuration influences the reproduction of force information. Second, a novel controller that is based on the abovementioned analysis is proposed. By using the proposal, we can reproduce the saved motion even though the environmental configuration is changed. In this study, the grasping/manipulation motion is considered to be a multi-DOF motion, and the validity of the proposal is confirmed via experiments.

元の言語English
ページ(範囲)7-13
ページ数7
ジャーナルIEEJ Journal of Industry Applications
2
発行部数1
DOI
出版物ステータスPublished - 2013

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Experiments

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Automotive Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

これを引用

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abstract = "This paper proposes a controller design method for the reproduction of multi-degree-of-freedom (DOF) motion. For the storage and reproduction of haptic information, a motion-copying system was proposed. In the conventional method, however, it is difficult to reproduce the saved motion when the environmental configuration in the motionloading phase is different from that in the motion-saving phase. This problem can be solved by the proposed method. The proposed design procedures are divided into two steps. First, a control structure with a different environmental configuration is proposed, and it is shown that the difference in the environmental configuration influences the reproduction of force information. Second, a novel controller that is based on the abovementioned analysis is proposed. By using the proposal, we can reproduce the saved motion even though the environmental configuration is changed. In this study, the grasping/manipulation motion is considered to be a multi-DOF motion, and the validity of the proposal is confirmed via experiments.",
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N2 - This paper proposes a controller design method for the reproduction of multi-degree-of-freedom (DOF) motion. For the storage and reproduction of haptic information, a motion-copying system was proposed. In the conventional method, however, it is difficult to reproduce the saved motion when the environmental configuration in the motionloading phase is different from that in the motion-saving phase. This problem can be solved by the proposed method. The proposed design procedures are divided into two steps. First, a control structure with a different environmental configuration is proposed, and it is shown that the difference in the environmental configuration influences the reproduction of force information. Second, a novel controller that is based on the abovementioned analysis is proposed. By using the proposal, we can reproduce the saved motion even though the environmental configuration is changed. In this study, the grasping/manipulation motion is considered to be a multi-DOF motion, and the validity of the proposal is confirmed via experiments.

AB - This paper proposes a controller design method for the reproduction of multi-degree-of-freedom (DOF) motion. For the storage and reproduction of haptic information, a motion-copying system was proposed. In the conventional method, however, it is difficult to reproduce the saved motion when the environmental configuration in the motionloading phase is different from that in the motion-saving phase. This problem can be solved by the proposed method. The proposed design procedures are divided into two steps. First, a control structure with a different environmental configuration is proposed, and it is shown that the difference in the environmental configuration influences the reproduction of force information. Second, a novel controller that is based on the abovementioned analysis is proposed. By using the proposal, we can reproduce the saved motion even though the environmental configuration is changed. In this study, the grasping/manipulation motion is considered to be a multi-DOF motion, and the validity of the proposal is confirmed via experiments.

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