Fine Force Reproduction Based on Motion-Copying System Using Acceleration Observer
Fine Force Reproduction Based on Motion-Copying System Using Acceleration Observer
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DOI：
10.1109/tie.2014.2308142
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发表时间：
2014-02
影响因子：
7.7
通讯作者：
Y. Yokokura;K. Ohishi;S. Katsura
中科院分区：
文献类型：
--
作者：
Y. Yokokura;K. Ohishi;S. Katsura
本文提出了一种新的动作复制系统，它能够保存和再现人类操作者的动作。在传统的运动复制系统中，当操作者快速移动时，由于加速度大，再现的力与存储的力不对应。因此，本文提出的运动复制系统利用加速度观测器提供的加速度响应，可以更准确地再现力。加速度观测器基于扰动观测器；它估计没有加速度传感器的执行器的加速度。此外，估计性能不受目标环境机械阻抗的影响。本文将所提出的运动复制系统与现有方法进行了比较，验证了该方法的有效性。
This paper proposes a new motion-copying system that is capable of preserving and reproducing the motion of human operators. In conventional motion-copying systems, when the operator moves quickly, the reproduced force does not correspond to the stored force, owing to the large accelerations. Therefore, the motion-copying system proposed in this paper uses acceleration responses provided by acceleration observers, so the force is reproduced more accurately. The acceleration observer is based on a disturbance observer; it estimates the acceleration of an actuator without acceleration sensors. Furthermore, the estimation performance is not affected by the mechanical impedance of the target environment. In this article, the proposed motion-copying system is compared with current methods, and the validity of the method is demonstrated.