Controller Design for Reproduction of Grasping/Manipulation Motion of Grasping Objects with Different Diameters

Abstract

This paper proposes a controller design method for the reproduction of multi-degree-of-freedom (DOF) motion. For the storage and reproduction of haptic information, a motion-copying system was proposed. In the conventional method, however, it is difficult to reproduce the saved motion when the environmental configuration in the motionloading phase is different from that in the motion-saving phase. This problem can be solved by the proposed method. The proposed design procedures are divided into two steps. First, a control structure with a different environmental configuration is proposed, and it is shown that the difference in the environmental configuration influences the reproduction of force information. Second, a novel controller that is based on the abovementioned analysis is proposed. By using the proposal, we can reproduce the saved motion even though the environmental configuration is changed. In this study, the grasping/manipulation motion is considered to be a multi-DOF motion, and the validity of the proposal is confirmed via experiments.

Recent advances and outlook in industrial instrumentation and mechatronics control

“…The disturbance observer (DOB) is often termed as the pronoun of motion control technology. Hence, majority of papers related to motion control in IEEJ J. IA are related to DOB .…”

“…Recent studies in IEEJ J. of IA and a few other journals use a new technical word ‘motion copying system’ . A motion copying system includes a technology wherein force, tactile, and position information is recorded and reproduced (see Fig.…”