Motion education system using impedance control based on spatial information

Hiroki Nagashima, Seiichiro Katsura

研究成果: Conference contribution

抄録

In industry, wide varieties of work process have been automated with development of motion control. Factory automation have been sustaining modern mass production in the long run. However, a paradigm shift from mass production to high-mix low-volume production is caused in recent years. In such a production system, manual procedures of craftsmen are necessary from the points of high degrees of their techniques and automation cost. Though training of successors is necessary in order to educate their techniques in each production process, some well-developed countries face severe decrease of labor population caused by super mature society. Then, effective education of their successors is urgent issue. Conventionally, some technical approaches using simulators have been researched. In most of these approaches, the reproduction of feature of the work object is mainly focused. Then, there are few approaches which treat spatial information of motion considering operator's activity. Therefore this paper proposes motion education system based on spatial information. Concretely, the reference motion trajectory is set not by using time function but by using curvilineal equations, and the operator of the proposed education system receives haptic feedback corresponding to trajectory error using impedance control. In this paper, the proposed education system is implemented in 2 DOF (Degree Of Freedom) system. Finally, the effectiveness of the proposed education system is experimentally confirmed.

本文言語English
ホスト出版物のタイトル2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ242-247
ページ数6
ISBN(印刷版)9781479923243
DOI
出版ステータスPublished - 2014 1月 1
イベント2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
継続期間: 2014 3月 142014 3月 16

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
国/地域Japan
CityYokohama
Period14/3/1414/3/16

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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