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力センサを用いないダイレクト・ドライブ・マニピュレータのインピーダンス制御
http://hdl.handle.net/2261/7227
http://hdl.handle.net/2261/722736e6d5af-cce4-4497-82c3-624811f54853
名前 / ファイル | ライセンス | アクション |
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0703B060.pdf (761.4 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2010-03-12 | |||||
タイトル | ||||||
タイトル | 力センサを用いないダイレクト・ドライブ・マニピュレータのインピーダンス制御 | |||||
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 | Compliance Control | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Direct Drive Manipulator | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Model-based Control | |||||
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 | Impedance Control of a Direct Drive Manipulator without Using Force Sensors | |||||
著者 |
舘, 暲
× 舘, 暲× 榊, 泰輔× 荒井, 裕彦× 西澤, 昭一郎× ペラエス・ポロ, ホセ・フェリペ |
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著者別名 | ||||||
識別子 | 106616 | |||||
識別子Scheme | WEKO | |||||
姓名 | TACHI, Susumu | |||||
著者別名 | ||||||
識別子 | 106617 | |||||
識別子Scheme | WEKO | |||||
姓名 | SAKAKI, Taisuke | |||||
著者別名 | ||||||
識別子 | 106618 | |||||
識別子Scheme | WEKO | |||||
姓名 | ARAI, Hirohiko | |||||
著者別名 | ||||||
識別子 | 106619 | |||||
識別子Scheme | WEKO | |||||
姓名 | NISHIZAWA, Shoichiro | |||||
著者別名 | ||||||
識別子 | 106620 | |||||
識別子Scheme | WEKO | |||||
姓名 | PELAEZ-POLO, Jose Felipe | |||||
著者所属 | ||||||
著者所属 | 機械技術研究所 | |||||
著者所属 | ||||||
著者所属 | 安川電機製作所 | |||||
著者所属 | ||||||
著者所属 | メキシコ国立大学 | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This reseach is concerned with impedance control of a manipulator which exerts stable contact task. The method controls dynamic interaction between a robot and its environment by changing the apparent mechanical impedance of the manipulator. Previous impedance control methods required force or torque sensors, which made the manipulator system most complex. In this paper a new method is proposed to control the impedance of a manipulator without using force or torque sensors. Angular velocity and acceleration of the manipulator joints are estimated, and by using the computer model of the manipulator necessary torque for each joint is caluculated and applied to the joint to attain the desired impedance. The feasibility of the method is verified by the surface following experiments and collision experiments using a two degree of freedom DD manipulator. | |||||
書誌情報 |
日本ロボット学会誌 巻 7, 号 3, p. 172-184, 発行日 1989-06 |
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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 |