|
UT Repository >
140 先端科学技術研究センター >
14010 学術雑誌論文 >
Please use this identifier to cite or link to this item:
http://hdl.handle.net/2261/7215
|
| タイトル: | 相似バイラテラル制御による操作感覚の増幅 |
| その他のタイトル: | Amplification of Sensation of Manipulation by Scaled Bilateral Control |
| 著者: | 榊, 泰輔
舘, 暲 |
| 著者(別言語): | SAKAKI, Taisuke
TACHI, Susumu |
| キーワード: | Bilateral Control
Scaling Rules |
| Issue Date: | Apr-1995 |
| 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. 13, no. 3, 1995.4, pp. 441-448 |
| 抄録: | This paper proposes the scaled bilateral control system which amplifies the sensation of force, length, and dynamics in tele-manipulation. The bilateral control should be utilized in the teleoperation where the physical scales between the master and slave environments are different. Scaling rules are applied to design the bilateral system with an extension of the impedance control type bilateral control system. The response of amplified sensation and the contact stability of the system are discussed. Also, the proposed system is verified with the experiments with a pair of linear sliders. |
| URI: | http://hdl.handle.net/2261/7215 |
| ISSN: | 02891824 |
| Appears in Collections: | 14010 学術雑誌論文
015 技術・工学
|
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.
|
