IEEJ Journal of Industry Applications
Online ISSN : 2187-1108
Print ISSN : 2187-1094
ISSN-L : 2187-1094
Motion Reproduction with Time-adaptation Control for Dealing with Variations of Environmental Location
Issei TakeuchiSeiichiro Katsura
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2016 Volume 5 Issue 3 Pages 221-227


In this paper, a time-adaptation control for motion reproduction is proposed for adapting to variations of environmental location and toward advanced manufacturing process. The method has the highest priority on eliminating force error; by lowering the priority on time correspondence, the reproducibility of contact motion is improved. Concretely speaking, the proposed method matches the force response value with its command under contact motion, by introducing a difference between save time and reproduction time. By using this method, even when the environmental location is changed, it is possible to reproduce the same reaching velocity at the moment of first contact. Then, the force error in the reproduced motion is suppressed immediately. In recent years, not only production speed, but also product quality must be ensured in a manufacturing site. In an actual manufacturing site, because materials are natural objects, properties, such as the size of an object, are different in different lots. Therefore, a control method that can adapt to variations of environmental location is effective for achieving high-quality manufacturing.

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© 2016 The Institute of Electrical Engineers of Japan
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