Controller Design for Reproduction of Grasping/Manipulation Motion of Grasping Objects with Different Diameters
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概要
- 論文の詳細を見る
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.
- The Institute of Electrical Engineers of Japanの論文
著者
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KATSURA Seiichiro
Department of System Design Engineering, Keio University
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Katsura Seiichiro
Department Of Electrical Engineering Nagaoka University Of Technology
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Yajima Shunsuke
Department Of Bioscience Tokyo University Of Agriculture
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Saito Eiichi
Department of System Design Engineering, Keio University
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