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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
http://hdl.handle.net/2261/7208
http://hdl.handle.net/2261/72085f234bdc-30ad-498b-9e6a-7ffdfe82e5e7
名前 / ファイル | ライセンス | アクション |
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1004B064.pdf (747.9 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2010-03-11 | |||||
タイトル | ||||||
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 | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題 | Impedance Control | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Master Slave Manipulator | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Tele-Existence | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Redundant Manipulator | |||||
主題Scheme | Other | |||||
資源タイプ | ||||||
資源 | http://purl.org/coar/resource_type/c_6501 | |||||
タイプ | journal article | |||||
その他のタイトル | ||||||
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
× 井上, 康之× 舘, 暲× 荒井, 裕彦 |
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著者別名 | ||||||
識別子 | 106510 | |||||
識別子Scheme | WEKO | |||||
姓名 | Inoue, Yasuyuki | |||||
著者別名 | ||||||
識別子 | 106511 | |||||
識別子Scheme | WEKO | |||||
姓名 | Tachi, Susumu | |||||
著者別名 | ||||||
識別子 | 106512 | |||||
識別子Scheme | WEKO | |||||
姓名 | Arai, Hirohiko | |||||
著者所属 | ||||||
著者所属 | 安川電機 | |||||
著者所属 | ||||||
著者所属 | 東京大学先端科学技術研究センター | |||||
著者所属 | ||||||
著者所属 | 機械技術研究所 | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | 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. | |||||
書誌情報 |
日本ロボット学会誌 巻 10, 号 4, p. 490-500, 発行日 1992-08 |
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ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 02891824 | |||||
書誌レコードID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00141189 | |||||
フォーマット | ||||||
内容記述タイプ | Other | |||||
内容記述 | application/pdf | |||||
日本十進分類法 | ||||||
主題 | 548.3 | |||||
主題Scheme | NDC | |||||
出版者 | ||||||
出版者 | 日本ロボット学会 |