Multi-DOF Motion Reproduction Using Motion-Copying System With Velocity Constraint

摘要

This paper analyzes the performance of the motion-copying system based on velocity information. In previous studies, the motion-copying system was proposed for storage and reproduction of haptic information. The motion-copying system is expected to be applied to various fields such as industrial applications, training systems, medical and welfare human assist, and so on. In the conventional method, however, the saved motion cannot be reproduced precisely when the environmental location in the motion-loading phase is different from that in the motion-saving phase. To solve this problem, we proposed the motion-copying system based on velocity information. This paper shows that the proposed method is applied to a 2-degree-of-freedom robot, and the performance is discussed. By using the proposal, it is possible to reproduce the saved motion even though the environmental location is shifted parallel. Finally, the validity of the proposed method is verified by experimental results.