A Realization of Motion Copying System Based on Multilateral Control
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- Yokokura Yuki
- Department of Electrical Engineering, Nagaoka University of Technology
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- Katsura Seiichiro
- Department of System Design Engineering, Keio University
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- Ohishi Kiyoshi
- Department of Electrical Engineering, Nagaoka University of Technology
Bibliographic Information
- Other Title
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- マルチラテラル制御に基づくモーションコピーシステムの実現
- マルチラテラル セイギョ ニ モトズク モーション コピー システム ノ ジツゲン
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Abstract
This paper proposes a motion copying system in order to reproduce motion of human operators. The motion copying system consists of both motion saving system and motion loading system based on multilateral controller. The motion saving system is realized by master systems and a slave system. The motion saving system saves motion of a slave system when human operator moves the master systems. At the same time, identity ratio is introduced to decouple the masters motions. The identity ratio of each master system is calculated by force of all master systems, and are saved to memory. On the contrary, real-world master systems and a virtual-world slave system realize the motion loading system. The motion loading system reproduces the motion using saved motion data and value of the identity ratio. The paper confirms that the motion saving system and motion loading system based on multilateral controller is generalized. The reproduced position and force correspond to the saved ones by the proposed method.
Journal
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- IEEJ Transactions on Industry Applications
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IEEJ Transactions on Industry Applications 128 (9), 1140-1146, 2008
The Institute of Electrical Engineers of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390001204658877824
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- NII Article ID
- 10024267477
- 10025654365
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- NII Book ID
- AN10074226
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- ISSN
- 13488163
- 09136339
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed