Design Strategies for Motion Reproduction Based on Environmental Disturbance Compensation

Author

Nagatsu, Yuki ; Katsura, Seiichiro

Author_Institution

Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan

Volume

62

Issue

9

fYear

2015

fDate

Sept. 2015

Firstpage

5786

Lastpage

5798

Abstract

This paper proposes a novel motion reproduction method based on environmental disturbance (EnvDs) compensation. The preservation of skillful techniques is an important issue. Although the motion-copying system (MCS) was proposed to deal with this problem, a clear strategy still does not exist for adapting to the environmental variances between the motion saving and reproduction phases. Conventional methods cannot adapt to the difference properly because their control systems are just one-degree-of-freedom (DOF) control systems. In this paper, variances were defined as EnvDs, and the effect on the MCS was demonstrated. A 2-DOF control system structure was developed to compensate for EnvDs. The effectiveness of the proposed system was demonstrated through analysis and experimental results.

Keywords

control system synthesis; manipulator dynamics; manipulator kinematics; motion compensation; motion control; 2-DOF control system structure; EnvD compensation; MCS; design strategies; environmental disturbance compensation; environmental variance; motion reproduction method; motion reproduction phase; motion saving phase; motion-copying system; Acceleration; Force; Impedance; Robots; Robustness; Trajectory; Admittance (compliance) control; Motion-copying system; admittance (compliance) control; bilateral control; disturbance observer; disturbance observer (DOB); environmental disturbance; environmental disturbance (EnvD); haptics; motion-copying system; two degrees of freedom control system; two-degree-of-freedom (2-DOF) control system;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/TIE.2015.2448062

Filename

7128689