Rubbing motion reproduction method in work space by considering summation of contact force

This paper proposes a novel method to reproduce a rubbing motion. A motion-copying system is one of the methods to save and reproduce the human motion containing a haptic sensation. Benefit of using position and force information is that it is able to reproduce the saved motion under the variation of the surrounding environment. Previous researches controlled each axis by supposing that there is no interference between these axes. However, there are environmental variations that can´t sufficiently be adapted while excluding the relationship of kinematics. For example, a variation of friction in rubbing motion affects the contact axis and rubbing axis in work space. Thus, this paper proposes a motion-reproduction method in rubbing motion utilizing a 2-link manipulator so as to adapt to the variation of friction. In the proposal, a summation of the force adding to the contact object is controlled and this method is able to adapt to the variation of friction. To show the validity of the proposed method, experiments were conducted.