Abstract
Synchronous motion is one of the important ability for the co-operation work. This report, we proposed three techniques for synchronous trajectory generation PLL(Phase Locked Loop), fourier series approximation and wavelet transformation. PLL technique achieves the phase synchronization with an arbitrary cyclic motion, like as human walking. Fourier series approximation of target trajectory allows us description of wide variety cyclic motion for the robot. And wavelet transformation sets the frequency of target trajectory based on an arbitrary cyclic motion. More over, we can select the synchronous frequency from human movement with multiple cycles by wavelet transfromation. The experiment of synchronization with 3-DOF manipulator and human demonstrator are carried out. As a result, we confirm synchronous performance and the effectiveness of proposed method.
