Stability analysis and experimental validation of a motion-copying system / Yokokura, Yuki in IEEE transactions on industrial electronics, Vol. 56 N° 10 (Octobre 2009)  

Stability analysis and experimental validation of a motion-copying system [texte imprimé] / Yokokura, Yuki, Auteur ; Seiichiro Katsura, Auteur ; Ohishi, Kiyoshi, Auteur . - pp. 3906 - 3913.
Génie électrique
Langues : Anglais (eng)
in IEEE transactions on industrial electronics > Vol. 56 N° 10 (Octobre 2009) . - pp. 3906 - 3913

Mots-clés :	Modal decomposition Motion control Motion-copying system Real-world haptics
Index. décimale :	621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X
Résumé :	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.
DEWEY :	621.38
ISSN :	0278-0046
En ligne :	http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5175365