Motion Reproduction for Flexible Structure using Wave–based Load Disturbance Observer

Abstract

Motion–copying system (MCS) is one of the effective method for saving and reproducing the human motion. By using MCS, we can choose the appropriate data depending on the various situation and reproduce by using robot. In MCS, the performance of motion reproduction is important. However, in real industrial apprication, vibration is caused by mechanical resonances. Then, performance of motion reproduction is degraded. To avoid the performance degradation, we propose motion reproduction method considering vibration suppression. By using proposed method, precise motion reproduction using flexible structure is achieved. The effectiveness of the proposed method is verified by simulations.