High-Stiff Motion Reproduction Using Position-Based Motion-Copying System With Acceleration-Based Bilateral Control
High-Stiff Motion Reproduction Using Position-Based Motion-Copying System With Acceleration-Based Bilateral Control
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DOI：
10.1109/tie.2015.2458957
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发表时间：
2015-07
影响因子：
7.7
通讯作者：
K. Miura;Ayaka Matsui;S. Katsura
中科院分区：
文献类型：
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作者：
K. Miura;Ayaka Matsui;S. Katsura
本文介绍了一种基于加速度双向控制的高刚性运动复制系统的优点，并分析了其性能。已经提出了一种用于保存和再现人体运动的运动复制系统。在以前对运动复制系统的研究中，在运动保存阶段和运动再现阶段之间的扰动存在差异的情况下，不能再现存储的运动数据。为了克服这些缺点，已经提出了一种对这种差异鲁棒的高刚性运动再现系统。在这项研究中，运动再现系统的比较分析进行推导的运动再现阶段的传递函数，所提出的方法的优越性，其他运动再现系统（传统的运动复制和位置控制系统）。最后通过实验结果验证了该方法的有效性和性能。所提出的方法应有助于运动复制系统向工业应用的进步。
This paper presents the advantages of a high-stiff motion-reproduction system based on a motion-copying system using acceleration-based bilateral control and analyzes its performance. A motion-copying system has been proposed for saving and reproducing human motions. In previous studies on motion-copying systems, stored motion data could not be reproduced under the condition that a difference existed in the disturbance between the motion-saving phase and the motion-reproducing phase. To overcome these drawbacks, a high-stiff motion-reproduction system that is robust against such differences has been proposed. In this study, comparative analyses of motion-reproduction systems are conducted by deriving the transfer functions of the motion-reproducing phase, and the superiority of the proposed method to other motion-reproduction systems (conventional motion-copying and position control systems) is shown. Finally, the validity and performance of the proposed method are verified through the experimental results. The proposed method should contribute to the advancement of motion-copying systems toward industrial applications.