Motion reproduction system considering control bandwidth in force transmission

This paper proposes a new motion reproduction method considering control bandwidth in force transmission system. Recently, the quantitative evaluation of human motion, that can be not covered by conventional robot technology is strongly required. For this, bilateral control that can treat force and position information between master and slave side and motion-copying system which can reproduce the human motion are extremely effective techniques. However, in conventional motion reproduction system, it uses both force and position as command values. There is inconsistency in reproduction because the nature of the “motion” is the force information. The proposed method is designed by taking into account the roles of the force and position information. In force transmission system, that is bilateral control, position control loop assists force control where force reproduction does not work perfectly. The proposed motion reproduction structure is constructed by considering this fact. It is possible to make the natural “motion”, that is not just force and position commands.