Multilateral control-based motion copying system for haptic training

Kebüde, Doğancan and Morimitsu, Hidetaki and Katsura, Seiichiro and Şabanoviç, Asif (2014) Multilateral control-based motion copying system for haptic training. In: IEEE 23rd International Symposium on Industrial Electronics (ISIE), Istanbul, Turkey

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This paper proposes a new motion-loading method that utilizes a multilateral control-based scheme for the motion-copying system. The motion-copying system refers to human operator's motion, tracks and preserves it only for being able to reproduce the same result of the motion. Conventionally, only slave system was used for motion-loading phase. The method proposed in this paper offers a way to enable more than one slave side actuator at the phase. With the proposed system, the operator at loading phase can grab the master system which the manipulator was holding at the saving phase. The performance analyses of proposed system are made with the bode plots, and the experiments are held with two degrees-of-freedom actuators. The newly proposed haptic informational reproduction technique can be applied in many areas, especially as the training purposes.
Item Type: Papers in Conference Proceedings
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: Asif Şabanoviç
Date Deposited: 09 Dec 2014 15:26
Last Modified: 26 Apr 2022 09:16

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