Motion reproduction system considering control bandwidth in force transmission

Takami Miyagi, Seiichiro Katsura

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

This paper proposes a new motion reproduction method considering control bandwidth in force transmission system. Recently, the quantitative evaluation of human motion, that can be not covered by conventional robot technology is strongly required. For this, bilateral control that can treat force and position information between master and slave side and motion-copying system which can reproduce the human motion are extremely effective techniques. However, in conventional motion reproduction system, it uses both force and position as command values. There is inconsistency in reproduction because the nature of the 'motion' is the force information. The proposed method is designed by taking into account the roles of the force and position information. In force transmission system, that is bilateral control, position control loop assists force control where force reproduction does not work perfectly. The proposed motion reproduction structure is constructed by considering this fact. It is possible to make the natural 'motion', that is not just force and position commands.

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452-457
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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