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Please use this identifier to cite or link to this item:
http://hdl.handle.net/2261/7208
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| タイトル: | マスタスレーブ・マニピュレータのインピーダンス制御の一方法 |
| その他のタイトル: | A Method of Impedance Control of a Master-slave Manipulation System |
| 著者: | 井上, 康之
舘, 暲
荒井, 裕彦 |
| 著者(別言語): | Inoue, Yasuyuki
Tachi, Susumu
Arai, Hirohiko |
| キーワード: | Impedance Control
Master Slave Manipulator
Tele-Existence
Redundant Manipulator |
| Issue Date: | Aug-1992 |
| 出版者: | 日本ロボット学会 |
| 掲載誌情報: | 日本ロボット学会誌. vol. 10, no. 4, 1992.8, pp. 490-500 |
| 抄録: | A control method of an anthropomorphic redundant master-slave manipulation system is proposed to be applied to advanced human robot systems, e.g., tele-existence. The impedance control method can be clasified into torque-control type and motion-control type. It is proved by both theoreticaly and experimentally that the motion-control type is suitable for the impedance control of manipulators with reduction gear mechanism. Next control methods of redundant unilateral/bilateral manipulators are proposed and their stabilities are discussed. Efficiency of the proposed methods are demonstrated using a hardware robot system. |
| URI: | http://hdl.handle.net/2261/7208 |
| ISSN: | 02891824 |
| Appears in Collections: | 14010 学術雑誌論文
015 技術・工学
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