DocumentCode :
2764962
Title :
Improvements in motion learning system using Force Reverse Presentation Control with variable force and time
Author :
Okuda, Keishi ; Suzuki, Yusuke ; Ohnishi, Kouhei
Author_Institution :
Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan
fYear :
2011
fDate :
27-30 June 2011
Firstpage :
2171
Lastpage :
2176
Abstract :
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.
Keywords :
force control; motion control; robots; force reverse presentation control; master robot; master-slave bilateral control; motion learning system; motion saving system; robot skill transfer; slave robot; variable force; variable time; Manganese; Haptics; Leaning system; Motion copying system; Reproduction Algorithm; Skill transfer;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics (ISIE), 2011 IEEE International Symposium on
Conference_Location :
Gdansk
ISSN :
Pending
Print_ISBN :
978-1-4244-9310-4
Electronic_ISBN :
Pending
Type :
conf
DOI :
10.1109/ISIE.2011.5984497
Filename :
5984497
Link To Document :
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