Paper Info
Title
Motion-copying system of a different master-slave mechanism with variable reproduction speed
Abstract
This paper presents a motion-copying system of different master-slave mechanism in variable speed of motion reproduction. The motion-saving system is performed by bilateral control algorithm to preserve arbitrary motions of human operator to a data memory. The slave actuator is affected by friction; hence, a friction-free disturbance observer is employed for force estimation on the slave side. The motion-loading system is able to reproduce human motion saved in data memory with changeable speed of motion reproduction. To improve the performance of motion-loading system, a displacement-based reproduction correction is used to eliminate the effect of unpredictable disturbances in variable speed of motion regeneration. The effectiveness of the proposed method is confirmed by simulation results.
Year
DOI
Venue
2014
10.1109/ISIE.2014.6864967
ISIE
Keywords
Field
DocType
actuators,compensation,manipulators,multi-robot systems,observers,arbitrary human operator motions,bilateral control algorithm,data memory,displacement-based reproduction correction,force estimation,friction-free disturbance observer,human motion reproduction,master-slave mechanism,motion-copying system,motion-loading system performance improvement,motion-saving system,slave actuator,unpredictable disturbance effect elimination,variable motion regeneration speed,variable reproduction speed,bilateral control,disturbance observer,real-world haptics,force,torque,friction,acceleration
Control algorithm,Motion control,Simulation,Control theory,Copying,Human motion,Control engineering,Reproduction speed,Engineering,Master/slave,Observer (quantum physics),Actuator
Conference
ISSN
Citations 
PageRank 
2163-5137
0
0.34
References 
Authors
3
3
Name
Order
Citations
PageRank
Thao Tran Phuong1153.67
K. Ohishi2688.09
Yokokura, Y.353.05