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首页> 外文期刊>IEEJ Journal of Industry Applications >Hybrid Motion Reproduction Using Master/Slave Type Motion-Copying System
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Hybrid Motion Reproduction Using Master/Slave Type Motion-Copying System

机译：使用主/从类型的动作复制系统进行混合动作复制

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This paper proposes a hybrid motion reproduction structure using a master-slave structure manipulator based on a motion-copying system. Data-driven control will be an important technique in the near future. Learning from Demonstration (LfD) using a robot manipulator is already used in manufacturing. Unlike other motion observation methods based on visual or trajectory responses, a motion-copying system can obtain not only trajectory response but also force response during contact motion, which is necessary to realize contact tasks. A motion-copying system has two phases, the motion saving phase and motion reproduction phase. In the motion reproduction phase, the motion stored in the motion saving phase obtained from the bilateral control can be used to reproduce specific motion. Existing control methods for a motion-copying system have only one system in the reproduction phase, a slave system. It is necessary to consider the case where there are two systems in the phase to widen the application of a motion-copying system. The additional system can provide flexibility to the reproduced motion. In this case, data, human, and a robot are involved in reproducing the motion. In this paper, the control structure is proposed when there are two systems in the motion reproduction phase. Because there are two systems, it is necessary to design the controllers for each system. The proposed method uses a coordinate transformation technique to design two motions in each system separately. The paper also introduces a novel index called the reproduction ratio. It determines the motion to be reproduced in the motion reproduction phase. The ratio is used as an element of a coordinate transformation matrix. The experimental results show the validity of the proposed method.
机译：本文提出了一种基于运动复制系统的使用主从结构操纵器的混合运动再现结构。数据驱动控制将在不久的将来成为一项重要技术。在制造中已经使用机器人操纵器从演示（LfD）中学习。与其他基于视觉或轨迹响应的运动观察方法不同，运动复制系统不仅可以获取轨迹响应，还可以获取接触运动过程中的力响应，这对于实现接触任务是必不可少的。运动复制系统具有两个阶段，即运动保存阶段和运动再现阶段。在运动再现阶段中，从双边控制获得的在运动保存阶段中存储的运动可以用于再现特定运动。用于运动复制系统的现有控制方法在再现阶段仅具有一个系统，即从属系统。有必要考虑在阶段中有两个系统以扩大动态复制系统的应用的情况。附加系统可以为再现的动作提供灵活性。在这种情况下，数据，人和机器人都参与了运动的再现。本文提出了在运动再现阶段有两个系统时的控制结构。因为有两个系统，所以有必要为每个系统设计控制器。所提出的方法使用坐标变换技术来分别设计每个系统中的两个运动。本文还介绍了一种称为再生比的新指标。它确定在运动再现阶段中要再现的运动。该比率用作坐标变换矩阵的元素。实验结果证明了该方法的有效性。

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