Improvements in motion learning system using Force Reverse Presentation Control with variable force and time

In this paper, Force Reverse Presentation Control (FRPC) with variable force and time is proposed for skill transfer. FRPC is composed of two parts; motion saving system and motion learning system. In motion saving system, motion of skilled operator is saved by using master-slave bilateral control. In motion learning system, the slave robot (Robot1) reproduces the saved motion, and master robot (Robot2) is operated by the learner. The learner imitates the Robot1 for skill transfer. FRPC is utilized in the Robot2, which produces reverse force of the skilled operator. The learner can learn the motion information by imitating the Robot1 and operating the Robot2. Effective skill transfer is achieved with the reproduction algorithm. The validity of the proposed method is confirmed by simulation and experiments.