Controller design for reproduction of grasping/manipulation motion of grasping objects with different diameters

Shunsuke Yajima, Eiichi Saito, Seiichiro Katsura

研究成果: Article査読

5 被引用数 (Scopus)

抄録

This paper proposes a controller design method for the reproduction of multi-degree-of-freedom (DOF) motion. For the storage and reproduction of haptic information, a motion-copying system was proposed. In the conventional method, however, it is difficult to reproduce the saved motion when the environmental configuration in the motionloading phase is different from that in the motion-saving phase. This problem can be solved by the proposed method. The proposed design procedures are divided into two steps. First, a control structure with a different environmental configuration is proposed, and it is shown that the difference in the environmental configuration influences the reproduction of force information. Second, a novel controller that is based on the abovementioned analysis is proposed. By using the proposal, we can reproduce the saved motion even though the environmental configuration is changed. In this study, the grasping/manipulation motion is considered to be a multi-DOF motion, and the validity of the proposal is confirmed via experiments.

本文言語English
ページ(範囲)7-13
ページ数7
ジャーナルIEEJ Journal of Industry Applications
2
1
DOI
出版ステータスPublished - 2013

ASJC Scopus subject areas

  • 自動車工学
  • エネルギー工学および電力技術
  • 機械工学
  • 産業および生産工学
  • 電子工学および電気工学

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