Motion reproduction for flexible structure using wave-based load disturbance observer

Koya Nambo, Seiichiro Katsura

研究成果: Conference contribution

抄録

Motion-copying system (MCS) is one of the effective method for saving and reproducing the human motion. By using MCS, we can choose the appropriate data depending on the various situation and reproduce by using robot. In MCS, the performance of motion reproduction is important. However, in real industrial apprication, vibration is caused by mechanical resonances. Then, performance of motion reproduction is degraded. To avoid the performance degradation, we propose motion reproduction method considering vibration suppression. By using proposed method, precise motion reproduction using flexible structure is achieved. The effectiveness of the proposed method is verified by simulations.

本文言語English
ホスト出版物のタイトルProceedings - 2019 IEEE International Conference on Industrial Technology, ICIT 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ750-755
ページ数6
ISBN(電子版)9781538663769
DOI
出版ステータスPublished - 2019 2月
イベント2019 IEEE International Conference on Industrial Technology, ICIT 2019 - Melbourne, Australia
継続期間: 2019 2月 132019 2月 15

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology
2019-February

Conference

Conference2019 IEEE International Conference on Industrial Technology, ICIT 2019
国/地域Australia
CityMelbourne
Period19/2/1319/2/15

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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