Design strategies for motion reproduction based on environmental disturbance compensation

Yuki Nagatsu, Seiichiro Katsura

研究成果: Article査読

15 被引用数 (Scopus)

抄録

This paper proposes a novel motion reproduction method based on environmental disturbance (EnvDs) compensation. The preservation of skillful techniques is an important issue. Although the motion-copying system (MCS) was proposed to deal with this problem, a clear strategy still does not exist for adapting to the environmental variances between the motion saving and reproduction phases. Conventional methods cannot adapt to the difference properly because their control systems are just one-degree-of-freedom (DOF) control systems. In this paper, variances were defined as EnvDs, and the effect on the MCS was demonstrated. A 2-DOF control system structure was developed to compensate for EnvDs. The effectiveness of the proposed system was demonstrated through analysis and experimental results.

本文言語English
論文番号7128689
ページ(範囲)5786-5798
ページ数13
ジャーナルIEEE Transactions on Industrial Electronics
62
9
DOI
出版ステータスPublished - 2015 9月 1

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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