Multi-DOF motion reproduction using motion-copying system with velocity constraint

Shunsuke Yajima, Seiichiro Katsura

研究成果: Article査読

27 被引用数 (Scopus)

抄録

This paper analyzes the performance of the motion-copying system based on velocity information. In previous studies, the motion-copying system was proposed for storage and reproduction of haptic information. The motion-copying system is expected to be applied to various fields such as industrial applications, training systems, medical and welfare human assist, and so on. In the conventional method, however, the saved motion cannot be reproduced precisely when the environmental location in the motion-loading phase is different from that in the motion-saving phase. To solve this problem, we proposed the motion-copying system based on velocity information. This paper shows that the proposed method is applied to a 2-degree-of-freedom robot, and the performance is discussed. By using the proposal, it is possible to reproduce the saved motion even though the environmental location is shifted parallel. Finally, the validity of the proposed method is verified by experimental results.

本文言語English
論文番号6636073
ページ(範囲)3765-3775
ページ数11
ジャーナルIEEE Transactions on Industrial Electronics
61
7
DOI
出版ステータスPublished - 2014 7月

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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