TY - GEN
T1 - Compensation Method for Environmental Variations of Motion Reproduction System Based on the Different Control Impedance
AU - Okano, Toshiaki
AU - Ohnishi, Kouhei
AU - Murakami, Toshiyuki
N1 - Funding Information:
ACKNOWLEDGMENT This research was supported in part by the Ministry of Education, Culture, Sports, Science and Technology of Japan under Grant-in-Aid for Scientific Research (S), 25220903, 2013.
Publisher Copyright:
© 2018 IEEE.
PY - 2018/8/10
Y1 - 2018/8/10
N2 - Some developed countries will encounter the shortage of working population, and machine automation is considered as one of the promising methods to overcome its issue. This paper considers Motion Reproduction System (MRS) as a method of the machine automation. MRS can be easily repeated the executed motion; however, this system is sensitive to environmental variations. One of simple countermeasures is introducing compensation values that are designed based on the environmental variations, but these values contain errors and degrade the motion reproduction. This paper proposes the modification of control impedance on the basis of the type of environmental variations, and the trustworthy information is much more weighted. The effectiveness of the proposal is verified through simulation and experiments.
AB - Some developed countries will encounter the shortage of working population, and machine automation is considered as one of the promising methods to overcome its issue. This paper considers Motion Reproduction System (MRS) as a method of the machine automation. MRS can be easily repeated the executed motion; however, this system is sensitive to environmental variations. One of simple countermeasures is introducing compensation values that are designed based on the environmental variations, but these values contain errors and degrade the motion reproduction. This paper proposes the modification of control impedance on the basis of the type of environmental variations, and the trustworthy information is much more weighted. The effectiveness of the proposal is verified through simulation and experiments.
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U2 - 10.1109/ISIE.2018.8433747
DO - 10.1109/ISIE.2018.8433747
M3 - Conference contribution
AN - SCOPUS:85052373470
SN - 9781538637050
T3 - IEEE International Symposium on Industrial Electronics
SP - 1045
EP - 1050
BT - Proceedings - 2018 IEEE 27th International Symposium on Industrial Electronics, ISIE 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 27th IEEE International Symposium on Industrial Electronics, ISIE 2018
Y2 - 13 June 2018 through 15 June 2018
ER -