Inertia Compensation of Motion Copying System for Dexterous Object Handling

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: 2018/11/01

タイトル(英語): Inertia Compensation of Motion Copying System for Dexterous Object Handling

著者名: M.K.C. Dinesh Chinthaka (Graduate School of Engineering, Yokohama National University/Kanagawa Institute of Industrial Science and Technology), Tomoyuki Shimono (Kanagawa Institute of Industrial Science and Technology/Faculty of Engineering, Yokohama Nati

著者名(英語): M.K.C. Dinesh Chinthaka (Graduate School of Engineering, Yokohama National University/Kanagawa Institute of Industrial Science and Technology), Tomoyuki Shimono (Kanagawa Institute of Industrial Science and Technology/Faculty of Engineering, Yokohama Nati

キーワード: motion copying，motion reproduction，inertia estimation，viscous friction estimation

要約(英語): Conventional motion copying systems are capable of performing repetitive fixed objectives. Motion copying systems can be used to handle different objects and tools. The inertia of the handled object affects the total system inertia of a motion coying system. If the total system inertia of the motion saving phase and motion reproduction phase are different, it affects the force and position tracking performances during motion reproduction. Inertia estimation should be performed in order to expand the applications of motion copying systems. Precise inertia estimation of a motion copying system is a challenging task when the actuator grasps different objects. This paper presents a method to estimate the inertia variation defends on the grasped object and the inertia compensation of a motion copying system while reproducing the recorded motion with different objects. The inertia of the grasped object is estimated by using a simple harmonic motion based method. The performance of the proposed method verified and discussed based on the experimental results.

本誌: IEEJ Journal of Industry Applications Vol.7 No.6 （2018）

本誌掲載ページ: 495-505 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/7/6/7_495/_article/-char/ja/