Reproduction control of rubbing motion taking friction variation into account

Ryutaro Honjo, Seiichiro Katsura

研究成果: Conference contribution

1 被引用数 (Scopus)


This paper proposes a motion-reproduction method for a multi degree-of-freedom system. For extraction and reproduction of haptic information, motion-copying system was previously proposed. However motion-copying system has a drawback; it is difficult to reproduce the saved motion when the environmental configuration in the motion-loading phase is different from that in the motion-saving phase. There are many methods for adapting variation of environmental configuration. However, in conventional methods the orthogonal axial motors are controlled independently. In the tracing motion, there is a friction and interference between orthogonal axes occurs. Thus, it is impossible to reproduce the saved motion when the coefficient of friction is varied. In this paper, amount of the force information is focused and motion-reproduction method which controls synthetic force using two degree-of-freedom system is proposed. The synthetic force is a total magnitude of the force information and it is important to conduct a human motion. To show the validity of the proposed method, experiments were conducted.

ホスト出版物のタイトルIECON Proceedings (Industrial Electronics Conference)
出版社Institute of Electrical and Electronics Engineers Inc.
出版ステータスPublished - 2014 2月 24


名前IECON Proceedings (Industrial Electronics Conference)

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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