Controller Design for Reproduction of Grasping/Manipulation Motion of Grasping Objects with Different Diameters

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カテゴリ: 論文誌(論文単位)グループ名: 【D】産業応用部門（英文）発行日: 2013/01/01タイトル(英語): Controller Design for Reproduction of Grasping/Manipulation Motion of Grasping Objects with Different Diameters著者名: Shun suke Yajima (Department of System Design Engineering, Keio University), Eiichi Saito (Department of System Design Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)著者名(英語): Shunsuke Yajima (Department of System Design Engineering, Keio University), Eiichi Saito (Department of System Design Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)キーワード: haptics，bilateral control，motion-copying system，acceleration control，disturbance observer，motion control要約(英語): 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 motion-loading 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.本誌: IEEJ Journal of Industry Applications Vol.2 No.1 （2013） Special Issue on Motion Control and its Related Technologies本誌掲載ページ: 2014/07/13 p原稿種別: 論文／英語電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/2/1/2_7/_article/-char/ja/ Show more