Motion reproduction based on time-adaptation in multi-degree-of-freedom system for contact task

Issei Takeuchi, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


In order to achieve contact tasks precisely, it is necessary to suppress position (or velocity) and force errors. The motion-loading system is effective method to achieve this purpose, since position (or velocity) and force information can be controled at the same time. However, when the contacting environment has the different size or location, force error occurs at first contact moment. In this paper, time-adaptation control with multi-degree-of-freedom (MDOF) system is proposed. The most important force value is set as control goal to calculate shift time in this method. Since time adaptation algorithm works to suppress the force error, the control goal is achieved. Therefore, this method can adapt to the size difference of the contacting works. By using this method, high quality manufacturing with contact task can be achieved in industrial field.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781479917624
Publication statusPublished - 2016 Jan 25
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: 2015 Nov 92015 Nov 12


Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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