Stability Analysis and Experimental Validation of a Motion-Copying System
Stability Analysis and Experimental Validation of a Motion-Copying System
复制标题
运动复制系统的稳定性分析和实验验证
DOI：
10.1109/tie.2009.2027927
复制
发表时间：
2009
影响因子：
7.7
通讯作者：
K. Ohishi
中科院分区：
文献类型：
--
作者：
Y. Yokokura;S. Katsura;K. Ohishi
本文研究了我们提出的运动复制系统的稳定性的情况下，环境的机械阻抗是变化的。该系统保留并再现人类操作员的运动。本文推导了考虑环境阻抗的运动加载系统的传递函数，并研究了杆件位移随环境变化的规律。此外，还进行了环境变化的实验。这些结果从理论上和实验上证实，即使环境发生变化，运动复制系统也是稳定的。运动复制系统的触觉信息处理技术在工业应用和医学工程中是有用的。
This paper examines the stability of our proposed motion-copying system in the case that the environmental mechanical impedance is changed. The system preserves and reproduces the motion of the human operator. The examination of this paper derives the transfer function of the motion-loading system considering the environmental impedance and investigates displacement of the poles with the transition of the environment. Moreover, the experiment with respect to environmental changing is carried out. These results confirm theoretically and experimentally that the motion-copying system is stable even if the environment is changed. The haptic informational processing technique by the motion-copying system is useful for industrial applications and medical engineering.
基于真实世界触觉的自适应运动复制系统
DOI：
--
发表时间：
2010
期刊：
影响因子：
--
作者：
Y.Yokokura;S.Katsura
通讯作者：
S.Katsura