TY - GEN
T1 - Reflected Wave Control for Generating Impact Motion Using a Flexible Manipulator
AU - Shikata, Kosuke
AU - Katsura, Seiichiro
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Recently, the rational motion of robots is required for further applications. Human motion gives many clues to studies of robotics. This study focuses on the fact that a human adjusts grip force when he/she performs an impact motion with a tool. The tools often have elasticity, and the human adjustment enables an effective impact motion. For reproduction of the impact motion with a flexible manipulator, this study models the elasticity as a wave system. The flow of the reflected wave is controlled during the impact motion based on the human adjustment of grip force. Since this study is based on the research of vibration suppression in elastic structures, it provides not only rational but also stable motion control. The experimental results show the validity of the proposed method.
AB - Recently, the rational motion of robots is required for further applications. Human motion gives many clues to studies of robotics. This study focuses on the fact that a human adjusts grip force when he/she performs an impact motion with a tool. The tools often have elasticity, and the human adjustment enables an effective impact motion. For reproduction of the impact motion with a flexible manipulator, this study models the elasticity as a wave system. The flow of the reflected wave is controlled during the impact motion based on the human adjustment of grip force. Since this study is based on the research of vibration suppression in elastic structures, it provides not only rational but also stable motion control. The experimental results show the validity of the proposed method.
KW - Distributed Parameter System
KW - Flexible Robot
KW - Impact Motion
UR - http://www.scopus.com/inward/record.url?scp=85143888467&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85143888467&partnerID=8YFLogxK
U2 - 10.1109/IECON49645.2022.9969005
DO - 10.1109/IECON49645.2022.9969005
M3 - Conference contribution
AN - SCOPUS:85143888467
T3 - IECON Proceedings (Industrial Electronics Conference)
BT - IECON 2022 - 48th Annual Conference of the IEEE Industrial Electronics Society
PB - IEEE Computer Society
T2 - 48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022
Y2 - 17 October 2022 through 20 October 2022
ER -