Stability Analysis and Experimental Validation of a Motion-Copying System

Yuki Yokokura; Seiichiro Katsura; Kiyoshi Ohishi

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Stability Analysis and Experimental Validation of a Motion-Copying System

机译：Stability Analysis and Experimental Validation of a Motion-Copying System

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摘要

This paper examines the stability of our proposed motion-copying system in the case that the environmental mechanical impedance is changed. The system preserves and reproduces the motion of the human operator. The examination of this paper derives the transfer function of the motion-loading system considering the environmental impedance and investigates displacement of the poles with the transition of the environment. Moreover, the experiment with respect to environmental changing is carried out. These results confirm theoretically and experimentally that the motion-copying system is stable even if the environment is changed. The haptic informational processing technique by the motion-copying system is useful for industrial applications and medical engineering.

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来源
《IEEE Transactions on Industrial Electronics》 |2009年第10期|3906-3913|共8页
作者
Yuki Yokokura; Seiichiro Katsura; Kiyoshi Ohishi;
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作者单位

Department of System Design Engineering, Keio University, Yokohama 223-8522, Japan;

Department of Electrical Engineering, Nagaoka University of Technology, Nagaoka 940-2188, Japan;

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原文格式 PDF
正文语种英语
中图分类无线电电子学、电信技术;
关键词
Modal decomposition; motion control; motioncopying system; real-world haptics;

Stability Analysis and Experimental Validation of a Motion-Copying System

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