TY - GEN
T1 - Motion reproduction for flexible structure using wave-based load disturbance observer
AU - Nambo, Koya
AU - Katsura, Seiichiro
N1 - Funding Information:
This work was partially supported by JSPS KAKENHI Grant Number 18H03784.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/2
Y1 - 2019/2
N2 - Motion-copying system (MCS) is one of the effective method for saving and reproducing the human motion. By using MCS, we can choose the appropriate data depending on the various situation and reproduce by using robot. In MCS, the performance of motion reproduction is important. However, in real industrial apprication, vibration is caused by mechanical resonances. Then, performance of motion reproduction is degraded. To avoid the performance degradation, we propose motion reproduction method considering vibration suppression. By using proposed method, precise motion reproduction using flexible structure is achieved. The effectiveness of the proposed method is verified by simulations.
AB - Motion-copying system (MCS) is one of the effective method for saving and reproducing the human motion. By using MCS, we can choose the appropriate data depending on the various situation and reproduce by using robot. In MCS, the performance of motion reproduction is important. However, in real industrial apprication, vibration is caused by mechanical resonances. Then, performance of motion reproduction is degraded. To avoid the performance degradation, we propose motion reproduction method considering vibration suppression. By using proposed method, precise motion reproduction using flexible structure is achieved. The effectiveness of the proposed method is verified by simulations.
KW - Communication disturbance observer
KW - Motion reproduction
KW - Motion-copying system
KW - Vibration suppression control
KW - Wave system
UR - http://www.scopus.com/inward/record.url?scp=85069041551&partnerID=8YFLogxK
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U2 - 10.1109/ICIT.2019.8755155
DO - 10.1109/ICIT.2019.8755155
M3 - Conference contribution
AN - SCOPUS:85069041551
T3 - Proceedings of the IEEE International Conference on Industrial Technology
SP - 750
EP - 755
BT - Proceedings - 2019 IEEE International Conference on Industrial Technology, ICIT 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Industrial Technology, ICIT 2019
Y2 - 13 February 2019 through 15 February 2019
ER -