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インピーダンス制御の接触安定性についての一考察
http://hdl.handle.net/2261/7212
http://hdl.handle.net/2261/72129f96a2e1-1071-4e85-ad5c-730103deaf66
名前 / ファイル | ライセンス | アクション |
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1203B155.pdf (620.9 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2010-03-12 | |||||
タイトル | ||||||
タイトル | インピーダンス制御の接触安定性についての一考察 | |||||
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 | Contact Stability | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Non-collocation | |||||
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 | Contact Stability Analysis on Some Impedance Control Methods | |||||
著者 |
榊, 泰輔
× 榊, 泰輔× 舘, 暲 |
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著者別名 | ||||||
識別子 | 106533 | |||||
識別子Scheme | WEKO | |||||
姓名 | SAKAKI, Taisuke | |||||
著者別名 | ||||||
識別子 | 106534 | |||||
識別子Scheme | WEKO | |||||
姓名 | TACHI, Susumu | |||||
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 | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper aims at the analysis of the contact stability of impedance control implemented to a robot manipulator. It is important for next generation robots to realize compliant motion to environment. Impedance control is one of the compliance control methods. However, there are still contact stability problems that the control system is unstable when the robot arm implemented with impedance control contacts to a stiff environment. In this paper, two methods of impedance control, Hogan's method and acceleration feedback method, are analyzed on the contact stability influenced with the locations of sensor and actuator. The target impedance, and modeling error are also considered. An one d.o.f. arm grasping a fixed stiff object is modeled and simulated under the consideration of unmodeled dynamics of the arm and the elasticity of the contact surface of the arm and its object. The analysis draws the results that the collocation of sensor and actuator does not always stabilize the contact task in the case of the existence of the unmodeled arm dynamics, and the stable regions of target impedance are different on these methods. | |||||
書誌情報 |
日本ロボット学会誌 巻 12, 号 3, p. 489-496, 発行日 1994-04 |
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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 |