TY - GEN
T1 - Rubbing motion reproduction method in work space by considering summation of contact force
AU - Honjo, Ryutaro
AU - Katsura, Seiichiro
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/4/9
Y1 - 2015/4/9
N2 - This paper proposes a novel method to reproduce a rubbing motion. A motion-copying system is one of the methods to save and reproduce the human motion containing a haptic sensation. Benefit of using position and force information is that it is able to reproduce the saved motion under the variation of the surrounding environment. Previous researches controlled each axis by supposing that there is no interference between these axes. However, there are environmental variations that can't sufficiently be adapted while excluding the relationship of kinematics. For example, a variation of friction in rubbing motion affects the contact axis and rubbing axis in work space. Thus, this paper proposes a motion-reproduction method in rubbing motion utilizing a 2-link manipulator so as to adapt to the variation of friction. In the proposal, a summation of the force adding to the contact object is controlled and this method is able to adapt to the variation of friction. To show the validity of the proposed method, experiments were conducted.
AB - This paper proposes a novel method to reproduce a rubbing motion. A motion-copying system is one of the methods to save and reproduce the human motion containing a haptic sensation. Benefit of using position and force information is that it is able to reproduce the saved motion under the variation of the surrounding environment. Previous researches controlled each axis by supposing that there is no interference between these axes. However, there are environmental variations that can't sufficiently be adapted while excluding the relationship of kinematics. For example, a variation of friction in rubbing motion affects the contact axis and rubbing axis in work space. Thus, this paper proposes a motion-reproduction method in rubbing motion utilizing a 2-link manipulator so as to adapt to the variation of friction. In the proposal, a summation of the force adding to the contact object is controlled and this method is able to adapt to the variation of friction. To show the validity of the proposed method, experiments were conducted.
UR - http://www.scopus.com/inward/record.url?scp=84929377938&partnerID=8YFLogxK
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U2 - 10.1109/ICMECH.2015.7084026
DO - 10.1109/ICMECH.2015.7084026
M3 - Conference contribution
AN - SCOPUS:84929377938
T3 - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
SP - 494
EP - 499
BT - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Mechatronics, ICM 2015
Y2 - 6 March 2015 through 8 March 2015
ER -