Selection of Required Controller for Position- and Force-Based Task in Motion Copying System
Toshiaki Okano*, Roberto Oboe**, Kouhei Ohnishi***, and Toshiyuki Murakami*
3-14-1 Hiyoshi, Kouhoku, Yokohama, Kanagawa 223-8522, Japan
**Department of Management Engineering, University of Padova
Stradella S. Nicola, 3, Vicenza 36100, Italy
***Haptics Research Center, Keio University
7-1 Shinkawasaki, Saiwai, Kawasaki, Kanagawa 212-0032, Japan
With the remarkable development of related technologies, the number of robots has been gradually increasing and their presence is becoming much more familiar in our daily lives. The motion copying system (MCS) is utilized as the method for conducting some tasks by robots. This system enables tasks to be reproduced when the environmental conditions are not changed. The task reproduction performance is degraded when environmental variations occur, and human-like adaptable motion is expected to be developed in the MCS. This study reveals the dominant element of motion, and the control strategy is varied at each time in each axis by considering the task realization. The flexibility of motion is learned from both the operator and the task implementation. The task reproduction experiments by MCS are conducted to verify the effectiveness of the proposal.
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