Motion-copying system for different environmental impedance

Hiroki Nagashima, Seiichiro Katsura

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Recently, motion control technology has been developed. In this research field, motion-copying system is expected to use some kinds of education in the future. Motion-copying system consists of two systems. One is the motion-saving system, and the other one is the motion-loading system. The structure of motion-saving system is similar to bilateral control system. In the system, human motion is abstracted and stored into motiondata memory. In the motion-loading system, human motion is precisely reproduced using the data in motion-data memory. Conventional motion-copying system is not able to treat the case condition of work object is changed between motionsaving system and motion-loading system. Some approaches are proposed, but most of approaches are related to the position gap. The case environmental impedance has changed is not sufficiently discussed. Therefore, this paper proposes motion-copying system for different environmental impedance. By the introduction of motion qualia into the motion-copying system, the effect of different environmental impedance is compensated. Validity of the proposal is confirmed by simulation results, and good agreement is observed.

本文言語English
ホスト出版物のタイトルProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
ページ4216-4221
ページ数6
DOI
出版ステータスPublished - 2013
イベント39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
継続期間: 2013 11月 102013 11月 14

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
国/地域Austria
CityVienna
Period13/11/1013/11/14

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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