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Motion-copying system of a different master-slave mechanism with variable reproduction speed
- Source :
- ISIE
- Publication Year :
- 2014
- Publisher :
- IEEE, 2014.
-
Abstract
- This paper presents a motion-copying system of different master-slave mechanism in variable speed of motion reproduction. The motion-saving system is performed by bilateral control algorithm to preserve arbitrary motions of human operator to a data memory. The slave actuator is affected by friction; hence, a friction-free disturbance observer is employed for force estimation on the slave side. The motion-loading system is able to reproduce human motion saved in data memory with changeable speed of motion reproduction. To improve the performance of motion-loading system, a displacement-based reproduction correction is used to eliminate the effect of unpredictable disturbances in variable speed of motion regeneration. The effectiveness of the proposed method is confirmed by simulation results.
- Subjects :
- Reproduction speed
Engineering
business.industry
ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION
Master/slave
Motion control
Displacement (vector)
Motion (physics)
Mechanism (engineering)
Variable (computer science)
Control theory
Actuator
business
Simulation
ComputingMethodologies_COMPUTERGRAPHICS
Subjects
Details
- Database :
- OpenAIRE
- Journal :
- 2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE)
- Accession number :
- edsair.doi...........cb08c8f1ae54b4e5151d4b720836b1d9