Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
Surface rubbing motion has been studied in engineering. Surface rubbing motion requires high accuracy. But, the tracking performance of robots is degraded by disturbances caused by the increase in motion speed. In this paper, multiple regression analysis is performed from the position, velocity, and distance from the fulcrum of the robot’s end-effector to compensate for the disturbance in the high-speed surface rubbing motion. In our experiments, we created a model that combines the terms of position, velocity, and distance, respectively, with playing a glass harp as a high-speed surface rubbing motion, and confirmed the compensation effect when applied to a robot. The proposed method showed improving the performance by multiple regression analysis with velocity.
