TY - GEN
T1 - Motion reproduction system considering control bandwidth in force transmission
AU - Miyagi, Takami
AU - Katsura, Seiichiro
PY - 2014/1/1
Y1 - 2014/1/1
N2 - This paper proposes a new motion reproduction method considering control bandwidth in force transmission system. Recently, the quantitative evaluation of human motion, that can be not covered by conventional robot technology is strongly required. For this, bilateral control that can treat force and position information between master and slave side and motion-copying system which can reproduce the human motion are extremely effective techniques. However, in conventional motion reproduction system, it uses both force and position as command values. There is inconsistency in reproduction because the nature of the 'motion' is the force information. The proposed method is designed by taking into account the roles of the force and position information. In force transmission system, that is bilateral control, position control loop assists force control where force reproduction does not work perfectly. The proposed motion reproduction structure is constructed by considering this fact. It is possible to make the natural 'motion', that is not just force and position commands.
AB - This paper proposes a new motion reproduction method considering control bandwidth in force transmission system. Recently, the quantitative evaluation of human motion, that can be not covered by conventional robot technology is strongly required. For this, bilateral control that can treat force and position information between master and slave side and motion-copying system which can reproduce the human motion are extremely effective techniques. However, in conventional motion reproduction system, it uses both force and position as command values. There is inconsistency in reproduction because the nature of the 'motion' is the force information. The proposed method is designed by taking into account the roles of the force and position information. In force transmission system, that is bilateral control, position control loop assists force control where force reproduction does not work perfectly. The proposed motion reproduction structure is constructed by considering this fact. It is possible to make the natural 'motion', that is not just force and position commands.
KW - Bilateral control
KW - Force transmission
KW - Motion reproduction
KW - Real-world haptics
UR - http://www.scopus.com/inward/record.url?scp=84903178017&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84903178017&partnerID=8YFLogxK
U2 - 10.1109/AMC.2014.6823324
DO - 10.1109/AMC.2014.6823324
M3 - Conference contribution
AN - SCOPUS:84903178017
SN - 9781479923243
T3 - International Workshop on Advanced Motion Control, AMC
SP - 452
EP - 457
BT - 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
Y2 - 14 March 2014 through 16 March 2014
ER -