Synthesis of Motion-Reproduction Systems Based on Motion-Copying System Considering Control Stiffness

PROJECT TITLE :

Synthesis of Motion-Reproduction Systems Based on Motion-Copying System Considering Control Stiffness

ABSTRACT:

Following advancements in the sector of visual and audio info, a 3rd medium of data, namely, haptic data, is expected to become the idea of a key technology within the robotics industry. Haptic information includes position and force data, and such information is obtained through a motion-copying system (MCS). An MCS will store human motion in an exceedingly motion database and reproduce the motion later at any other location. But, the MCS includes a major disadvantage. The situations underneath which the motion-saving and motion-reproducing phases are disbursed should be the same. If differences exist, the stored human motion will not be properly reproduced. To solve this drawback, the various motion-copy systems are proposed previously. However, each motion-replica system proposed in previous research will provide a resolution only for a explicit problem. So, in this study, motion-replica systems are unified in terms of management stiffness. By the mixing of the motion-replica systems, it became clear that position and force control in an MCS can be realized solely though compliance management, that was obtained conventionally. In different words, motion-copy systems will be synthesized depending on true and also the associated problem will become solved. The validity of the concept proposed during this paper was confirmed by testing it for an application of the MCS.

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