TY - GEN
T1 - Improvements in motion learning system using force reverse presentation control with variable force and time
AU - Okuda, Keishi
AU - Suzuki, Yusuke
AU - Ohnishi, Kouhei
PY - 2011/9/21
Y1 - 2011/9/21
N2 - In this paper, Force Reverse Presentation Control (FRPC) with variable force and time is proposed for skill transfer. FRPC is composed of two parts; motion saving system and motion learning system. In motion saving system, motion of skilled operator is saved by using master-slave bilateral control. In motion learning system, the slave robot (Robot1) reproduces the saved motion, and master robot (Robot2) is operated by the learner. The learner imitates the Robot1 for skill transfer. FRPC is utilized in the Robot2, which produces reverse force of the skilled operator. The learner can learn the motion information by imitating the Robot1 and operating the Robot2. Effective skill transfer is achieved with the reproduction algorithm. The validity of the proposed method is confirmed by simulation and experiments.
AB - In this paper, Force Reverse Presentation Control (FRPC) with variable force and time is proposed for skill transfer. FRPC is composed of two parts; motion saving system and motion learning system. In motion saving system, motion of skilled operator is saved by using master-slave bilateral control. In motion learning system, the slave robot (Robot1) reproduces the saved motion, and master robot (Robot2) is operated by the learner. The learner imitates the Robot1 for skill transfer. FRPC is utilized in the Robot2, which produces reverse force of the skilled operator. The learner can learn the motion information by imitating the Robot1 and operating the Robot2. Effective skill transfer is achieved with the reproduction algorithm. The validity of the proposed method is confirmed by simulation and experiments.
KW - Haptics
KW - Leaning system
KW - Motion copying system
KW - Reproduction Algorithm
KW - Skill transfer
UR - http://www.scopus.com/inward/record.url?scp=80052861843&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80052861843&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2011.5984497
DO - 10.1109/ISIE.2011.5984497
M3 - Conference contribution
AN - SCOPUS:80052861843
SN - 9781424493128
T3 - Proceedings - ISIE 2011: 2011 IEEE International Symposium on Industrial Electronics
SP - 2171
EP - 2176
BT - Proceedings - ISIE 2011
T2 - 2011 IEEE International Symposium on Industrial Electronics, ISIE 2011
Y2 - 27 June 2011 through 30 June 2011
ER -