NDLI: Multi-DOF Motion Reproduction Using Motion-Copying System With Velocity Constraint

Content Provider	IEEE Xplore Digital Library
Author	Yajima, S. Katsura, S.
Copyright Year	1982
Abstract	This paper analyzes the performance of the motion-copying system based on velocity information. In previous studies, the motion-copying system was proposed for storage and reproduction of haptic information. The motion-copying system is expected to be applied to various fields such as industrial applications, training systems, medical and welfare human assist, and so on. In the conventional method, however, the saved motion cannot be reproduced precisely when the environmental location in the motion-loading phase is different from that in the motion-saving phase. To solve this problem, we proposed the motion-copying system based on velocity information. This paper shows that the proposed method is applied to a 2-degree-of-freedom robot, and the performance is discussed. By using the proposal, it is possible to reproduce the saved motion even though the environmental location is shifted parallel. Finally, the validity of the proposed method is verified by experimental results.
Sponsorship	IEEE Industrial Electronics Society
Starting Page	3765
Ending Page	3775
Page Count	11
File Size	1616568
File Format	PDF
ISSN	02780046
Volume Number	61
Issue Number	7
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Haptic interfaces Robots Aerospace electronics Acceleration Cutoff frequency Torque motion-copying system Acceleration control bilateral control disturbance observer (DOB) haptics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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