Motion reproduction based on time-adaptation in multi-degree-of-freedom system for contact task

In order to achieve contact tasks precisely, it is necessary to suppress position (or velocity) and force errors. The motion-loading system is effective method to achieve this purpose, since position (or velocity) and force information can be controled at the same time. However, when the contacting environment has the different size or location, force error occurs at first contact moment. In this paper, time-adaptation control with multi-degree-of-freedom (MDOF) system is proposed. The most important force value is set as control goal to calculate shift time in this method. Since time adaptation algorithm works to suppress the force error, the control goal is achieved. Therefore, this method can adapt to the size difference of the contacting works. By using this method, high quality manufacturing with contact task can be achieved in industrial field.