離散フーリエ級数展開に基づく運動モード分解

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2012/03/01

タイトル(英語): Motion Mode Decomposition Based on Discrete Fourier Series Expansion

著者名: 八田　禎之（横浜国立大学 工学部 電子情報工学科），下野　誠通（横浜国立大学 工学部 電子情報工学科）

著者名(英語): Yoshiyuki Hatta (Division of Electrical and Computer Engineering, Yokohama National University), Tomoyuki Shimono (Division of Electrical and Computer Engineering, Yokohama National University)

キーワード: ハプティクス，モーションコントロール，バイラテラル制御，モード分解，離散フーリエ級数展開，運動認識　　haptics，motion control，bilateral control，modal decomposition，discrete Fourier series expansion，motion recognition

要約(英語): In recent years, several methods for decomposing the whole motion of a parallel multi-degrees-of-freedom (MDOF) system into motion modes have been proposed. A motion mode is a motion element that corresponds to a specific physical action, such as grasping, manipulating, and rotating. Modal decomposition is effective for the expression and analysis of a complicated motion. However, conventional methods can extract motion modes only if the arrangement of actuators in the system has spatial linearity and symmetry. Therefore, the actuators cannot be arranged arbitrarily when the conventional methods are applied. In order to solve this problem, a novel method for modal decomposition is proposed; this method is based on the discrete Fourier series expansion. The proposed method is applied to a parallel MDOF bilateral system in which the arrangement of actuators is spatially asymmetric. Finally, the validity of the proposed method is confirmed on the basis of the experimental results.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.132 No.3 （2012） 特集：産業計測制御全般

本誌掲載ページ: 366-373 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/132/3/132_3_366/_article/-char/ja/