Dynamic Data Reproduction of Contact Environment with State Transition

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): Dynamic Data Reproduction of Contact Environment with State Transition

著者名: Ayaka Matsui (Department of System Design Engineering, Keio University), Yuki Yokokura (Department of Electrical Engineering, Nagaoka University of Technology), Seiichiro Katsura (Department of System Design Engineering, Keio University)

著者名(英語): Ayaka Matsui (Department of System Design Engineering, Keio University), Yuki Yokokura (Department of Electrical Engineering, Nagaoka University of Technology), Seiichiro Katsura (Department of System Design Engineering, Keio University)

キーワード: haptics，bilateral control，environment-copying system，disturbance observer，connection matrix，system connection

要約(英語): Nowadays, fields that employ advanced techniques require a new type of education system that can reproduce a haptic sensation repeatedly. The environment-copying system has been developed for such an education system. The system is based on the bilateral control and can store and reproduce haptic data so that an operator can feel haptic sensation at any time and anywhere. Conventional environment-copying systems only treat the environment that has elastic characteristic. To solve this problem, two systems are proposed in this paper. One is the environment-identification system, wherein the saved force is divided into the force affected by the stiffness and the momentum of damper, using the Fourier transform to represent the environment with the identified mechanical impedance. The other is the state-to-state transition system, wherein the condition of the environment is considered from the view point of system connection. By using this system, dynamic environments such as these with nonlinear behavior can be expressed. The validity of the proposal is confirmed through experiments, and the experimental results show that the proposed system can satisfactorily store and reproduce the environment.

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: 22-29 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_22/_article/-char/ja/