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Motion Reproduction with Time-adaptation Control for Dealing with Variations of Environmental Location

Motion Reproduction with Time-adaptation Control for Dealing with Variations of Environmental Location

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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: 2016/05/01

タイトル(英語): Motion Reproduction with Time-adaptation Control for Dealing with Variations of Environmental Location

著者名: Issei Takeuchi (Department of System Design Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)

著者名(英語): Issei Takeuchi (Department of System Design Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)

キーワード: motion control,bilateral control,hybrid control,haptics,time-adaptation control

要約(英語): In this paper, a time-adaptation control for motion reproduction is proposed for adapting to variations of environmental location and toward advanced manufacturing process. The method has the highest priority on eliminating force error; by lowering the priority on time correspondence, the reproducibility of contact motion is improved. Concretely speaking, the proposed method matches the force response value with its command under contact motion, by introducing a difference between save time and reproduction time. By using this method, even when the environmental location is changed, it is possible to reproduce the same reaching velocity at the moment of first contact. Then, the force error in the reproduced motion is suppressed immediately. In recent years, not only production speed, but also product quality must be ensured in a manufacturing site. In an actual manufacturing site, because materials are natural objects, properties, such as the size of an object, are different in different lots. Therefore, a control method that can adapt to variations of environmental location is effective for achieving high-quality manufacturing.

本誌: IEEJ Journal of Industry Applications Vol.5 No.3 (2016)

本誌掲載ページ: 221-227 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/5/3/5_221/_article/-char/ja/

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