关键词：运动控制；多度的自由度系统；双向控制
摘 要：This paper proposes a motion reproduction method for multi degree-of-freedom system. For storing and reproduction of haptic information, a motion-copying system was proposed. It is difficult to reproduce the saved motion when the environmental configuration in the motion-loading phase is different from that in the motion-saving phase. There are many methods to adapt variation of environmental configuration. In conventional method, however it is considered that the orthogonal axes are controlled independently, but in the tracing motion, there is a friction and interference between orthogonal axes. Thus, it is impossible to reproduce the saving motion when the coefficient of friction is varied. In this paper, modeling of friction in two degree-of-freedom system, and proposed a motion-loading system by using relationship of friction using two degree-of-freedom system. The proposed method reproduces the saving motion even if coefficient of friction is varied. To show the validity of the proposed method, experiments were conducted.