Rubbing motion reproduction method in work space by considering summation of contact force

Ryutaro Honjo, Seiichiro Katsura

研究成果: Conference contribution

抄録

This paper proposes a novel method to reproduce a rubbing motion. A motion-copying system is one of the methods to save and reproduce the human motion containing a haptic sensation. Benefit of using position and force information is that it is able to reproduce the saved motion under the variation of the surrounding environment. Previous researches controlled each axis by supposing that there is no interference between these axes. However, there are environmental variations that can't sufficiently be adapted while excluding the relationship of kinematics. For example, a variation of friction in rubbing motion affects the contact axis and rubbing axis in work space. Thus, this paper proposes a motion-reproduction method in rubbing motion utilizing a 2-link manipulator so as to adapt to the variation of friction. In the proposal, a summation of the force adding to the contact object is controlled and this method is able to adapt to the variation of friction. To show the validity of the proposed method, experiments were conducted.

元の言語English
ホスト出版物のタイトルProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
出版者Institute of Electrical and Electronics Engineers Inc.
ページ494-499
ページ数6
ISBN(印刷物)9781479936335
DOI
出版物ステータスPublished - 2015 4 9
イベント2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
継続期間: 2015 3 62015 3 8

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
Japan
Nagoya
期間15/3/615/3/8

Fingerprint

Friction
Copying
Manipulators
Kinematics
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

これを引用

Honjo, R., & Katsura, S. (2015). Rubbing motion reproduction method in work space by considering summation of contact force. : Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015 (pp. 494-499). [7084026] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2015.7084026

Rubbing motion reproduction method in work space by considering summation of contact force. / Honjo, Ryutaro; Katsura, Seiichiro.

Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 494-499 7084026.

研究成果: Conference contribution

Honjo, R & Katsura, S 2015, Rubbing motion reproduction method in work space by considering summation of contact force. : Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015., 7084026, Institute of Electrical and Electronics Engineers Inc., pp. 494-499, 2015 IEEE International Conference on Mechatronics, ICM 2015, Nagoya, Japan, 15/3/6. https://doi.org/10.1109/ICMECH.2015.7084026
Honjo R, Katsura S. Rubbing motion reproduction method in work space by considering summation of contact force. : Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 494-499. 7084026 https://doi.org/10.1109/ICMECH.2015.7084026
Honjo, Ryutaro ; Katsura, Seiichiro. / Rubbing motion reproduction method in work space by considering summation of contact force. Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 494-499
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