Motion education system using impedance control based on spatial information

In industry, wide varieties of work process have been automated with development of motion control. Factory automation have been sustaining modern mass production in the long run. However, a paradigm shift from mass production to high-mix low-volume production is caused in recent years. In such a production system, manual procedures of craftsmen are necessary from the points of high degrees of their techniques and automation cost. Though training of successors is necessary in order to educate their techniques in each production process, some well-developed countries face severe decrease of labor population caused by super mature society. Then, effective education of their successors is urgent issue. Conventionally, some technical approaches using simulators have been researched. In most of these approaches, the reproduction of feature of the work object is mainly focused. Then, there are few approaches which treat spatial information of motion considering operator's activity. Therefore this paper proposes motion education system based on spatial information. Concretely, the reference motion trajectory is set not by using time function but by using curvilineal equations, and the operator of the proposed education system receives haptic feedback corresponding to trajectory error using impedance control. In this paper, the proposed education system is implemented in 2 DOF (Degree Of Freedom) system. Finally, the effectiveness of the proposed education system is experimentally confirmed.