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直接駆動マニピュレータの人力操作における操作力検出と能動的力補助
http://hdl.handle.net/2261/7225
http://hdl.handle.net/2261/722585e0eb16-201b-43ec-bb7b-94812e3a4b00
名前 / ファイル | ライセンス | アクション |
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0403B003.pdf (647.2 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 | 直接駆動マニピュレータの人力操作における操作力検出と能動的力補助 | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題 | Human handling of a manipulator | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Reaction force | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Force detection | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Active power assistance | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Direct-drive 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 | Handling Force Detection and Active Power Assistance in Human Handling of Direct Drive Manipulator | |||||
著者 |
荒井, 裕彦
× 荒井, 裕彦× 舘, 暲 |
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著者別名 | ||||||
識別子 | 106603 | |||||
識別子Scheme | WEKO | |||||
姓名 | Arai, Hirohiko | |||||
著者別名 | ||||||
識別子 | 106604 | |||||
識別子Scheme | WEKO | |||||
姓名 | Tachi, Susumu | |||||
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 | When a manipulator is handled with human force, it is necessary to reduce reaction force caused by inertia, friction, gravity, etc. This paper describes an active power assistance system for a direct-drive manipulator, which assists handling force with motor, and force detection system for that purpose. This method detect handling force by combination of motor-torque detection with motor-current and rotation detection with internal sensors (tacho-generator etc.). It does not need special force sensors. Some configurations of power assistance system are also shown. Effectiveness of the proposed method is demonstrated by feasibility experiments. | |||||
書誌情報 |
日本ロボット学会誌 巻 4, 号 3, p. 209-219, 発行日 1986-06 |
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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 |