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- 저자 : Seiichiro Katsura (검색결과 3 건)
- 무료
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Processed Control of Haptic Information on Environmental Surface by Haptic Scanner
Yukifumi Kobayashi,Seiichiro Katsura 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Real-world haptics is the key technology for future haptic communication engineering. In this technical point of view, this paper proposes a “haptic scanner” for processing of haptic information. The experimental haptic scanner system is composed of two degree-of-freedom master-slave system. The haptic scanner acquires haptic information on the environmental surface; and the haptic information is analyzed by Fourier transformation and transmitted with shaping. As a result, it is possible to change the reproduced haptic sensation from the remote environment. The experimental results show the viability of the proposed method.
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Macro-Micro Bilateral Control with Friction-Free Structure
Shutaro Yorozu,Seiichiro Katsura 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
Micro manipulation technology is demanded for many fields such as engineering, medical fields, and biological disciplines. Macro-micro bilateral control is essential technique to realize micro manipulation with force feedback. However, viscosity friction in micro environment is problem when the system conducts unconstrained motion. Moreover, the signal noise of position encoder is also problems. This paper proposes the cancellation of viscosity friction and signal noise by using differential mode of force and position in slave system. The pure grip force is able to get by the cancellation of viscosity friction. The viability of the proposed method are shown by some experimental results.
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Continuous Integration of Motion Components Using Motion Copying System
Noboru Tsunashima,Seiichiro Katsura 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper presents the development and implementation of continuous integration of human motion. Recently, development of next-generation technology for save and reproduction of human motion based on haptic information is demanded in manufacturing and human support fields. Motion copying system which is the key technology to attain above has already proposed. Considering to adapt motion copying system in various fields, it is necessary to integrate some saved motion data and reproduce like one motion. In previous publication of the authors, the basic method for reproduction of integrated motion has already been proposed. However, basic method to integrate motion components comprehends the fear to break an environment, when coupling time, which connect motion components, is set short. In this paper, continuous integration of motion components is realized by adding acceleration feedforward loop to basic method during coupling time. Using this method, the coupling time is able to set shorter, because the tracking capability is improved. In this paper, an availability of proposed method is verified by experiments. By the proposed method, it is possible to open up new areas of applications like skill acquisition of experts, power assist, and so on.
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