Reproduction control of rubbing motion taking friction variation into account

This paper proposes a motion-reproduction method for a multi degree-of-freedom system. For extraction and reproduction of haptic information, motion-copying system was previously proposed. However motion-copying system has a drawback; it is difficult to reproduce the saved motion when the environmental configuration in the motion-loading phase is different from that in the motion-saving phase. There are many methods for adapting variation of environmental configuration. However, in conventional methods the orthogonal axial motors are controlled independently. In the tracing motion, there is a friction and interference between orthogonal axes occurs. Thus, it is impossible to reproduce the saved motion when the coefficient of friction is varied. In this paper, amount of the force information is focused and motion-reproduction method which controls synthetic force using two degree-of-freedom system is proposed. The synthetic force is a total magnitude of the force information and it is important to conduct a human motion. To show the validity of the proposed method, experiments were conducted.