WEKO3
アイテム
{"_buckets": {"deposit": "ed786415-8574-44db-a5da-8480090b0859"}, "_deposit": {"id": "461", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "461"}, "status": "published"}, "_oai": {"id": "oai:repository.dl.itc.u-tokyo.ac.jp:00000461", "sets": ["14", "36"]}, "item_2_alternative_title_1": {"attribute_name": "その他のタイトル", "attribute_value_mlt": [{"subitem_alternative_title": "Impedance Controlled Master Slave Manipulation SystemPart I : Basic Concept and Application to the System withTime Delay"}]}, "item_2_biblio_info_7": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "1990-06", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "3", "bibliographicPageEnd": "252", "bibliographicPageStart": "241", "bibliographicVolumeNumber": "8", "bibliographic_titles": [{"bibliographic_title": "日本ロボット学会誌"}]}]}, "item_2_description_13": {"attribute_name": "フォーマット", "attribute_value_mlt": [{"subitem_description": "application/pdf", "subitem_description_type": "Other"}]}, "item_2_description_5": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "This research is concerned with master slave manipulation. A new master slave system in tele-existence mode, i.e., impedance controlled master slave system, is presented. Impedance control of the manipulators is applied to this system. The system regulates the impedances of the master and the slave so that they coincide, and it generates the impedance models of the environment. Four basic control methods are proposed as the extension of conventional bilateral systems and it is shown that most of them can be transformed to each other by calculating force information even with less force information. They are also applied to the system with time delay. These methods are verified in the experiments with a two degrees of freedom direct drive manipulator.", "subitem_description_type": "Abstract"}]}, "item_2_full_name_3": {"attribute_name": "著者別名", "attribute_value_mlt": [{"nameIdentifiers": [{"nameIdentifier": "106627", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "TACHI, Susumu"}]}, {"nameIdentifiers": [{"nameIdentifier": "106628", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "SAKAKI, Taisuke"}]}]}, "item_2_publisher_20": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "日本ロボット学会"}]}, "item_2_source_id_10": {"attribute_name": "書誌レコードID", "attribute_value_mlt": [{"subitem_source_identifier": "AN00141189", "subitem_source_identifier_type": "NCID"}]}, "item_2_source_id_8": {"attribute_name": "ISSN", "attribute_value_mlt": [{"subitem_source_identifier": "02891824", "subitem_source_identifier_type": "ISSN"}]}, "item_2_subject_15": {"attribute_name": "日本十進分類法", "attribute_value_mlt": [{"subitem_subject": "548.3", "subitem_subject_scheme": "NDC"}]}, "item_2_text_34": {"attribute_name": "資源タイプ", "attribute_value_mlt": [{"subitem_text_value": "Journal Article"}]}, "item_2_text_4": {"attribute_name": "著者所属", "attribute_value_mlt": [{"subitem_text_value": "機械技術研究所"}, {"subitem_text_value": "安川電機製作所"}]}, "item_creator": {"attribute_name": "著者", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "舘, 暲"}], "nameIdentifiers": [{"nameIdentifier": "106625", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "榊, 泰輔"}], "nameIdentifiers": [{"nameIdentifier": "106626", "nameIdentifierScheme": "WEKO"}]}]}, "item_files": {"attribute_name": "ファイル情報", "attribute_type": "file", "attribute_value_mlt": [{"accessrole": "open_date", "date": [{"dateType": "Available", "dateValue": "2017-06-26"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "0803B001.pdf", "filesize": [{"value": "737.8 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 737800.0, "url": {"label": "0803B001.pdf", "url": "https://repository.dl.itc.u-tokyo.ac.jp/record/461/files/0803B001.pdf"}, "version_id": "0ea4d893-23c1-4113-9b28-f31527a37f28"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "Impedance Control", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Master Slave Manipulation", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Tele-Existence", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Time Delay", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Impedance Model", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Telerobotics", "subitem_subject_scheme": "Other"}]}, "item_language": {"attribute_name": "言語", "attribute_value_mlt": [{"subitem_language": "jpn"}]}, "item_resource_type": {"attribute_name": "資源タイプ", "attribute_value_mlt": [{"resourcetype": "journal article", "resourceuri": "http://purl.org/coar/resource_type/c_6501"}]}, "item_title": "インピーダンス制御型マスタ・スレーブ・システム (I) : 基本原理と伝送遅れへの応用", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "インピーダンス制御型マスタ・スレーブ・システム (I) : 基本原理と伝送遅れへの応用"}]}, "item_type_id": "2", "owner": "1", "path": ["14", "36"], "permalink_uri": "http://hdl.handle.net/2261/7229", "pubdate": {"attribute_name": "公開日", "attribute_value": "2010-03-12"}, "publish_date": "2010-03-12", "publish_status": "0", "recid": "461", "relation": {}, "relation_version_is_last": true, "title": ["インピーダンス制御型マスタ・スレーブ・システム (I) : 基本原理と伝送遅れへの応用"], "weko_shared_id": null}
インピーダンス制御型マスタ・スレーブ・システム (I) : 基本原理と伝送遅れへの応用
http://hdl.handle.net/2261/7229
http://hdl.handle.net/2261/7229f0de1fea-9063-4d2e-b715-0d09df79bc63
名前 / ファイル | ライセンス | アクション |
---|---|---|
0803B001.pdf (737.8 kB)
|
|
Item type | 学術雑誌論文 / Journal Article(1) | |||||
---|---|---|---|---|---|---|
公開日 | 2010-03-12 | |||||
タイトル | ||||||
タイトル | インピーダンス制御型マスタ・スレーブ・システム (I) : 基本原理と伝送遅れへの応用 | |||||
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 Manipulation | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Tele-Existence | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Time Delay | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Impedance Model | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Telerobotics | |||||
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 Controlled Master Slave Manipulation SystemPart I : Basic Concept and Application to the System withTime Delay | |||||
著者 |
舘, 暲
× 舘, 暲× 榊, 泰輔 |
|||||
著者別名 | ||||||
識別子 | 106627 | |||||
識別子Scheme | WEKO | |||||
姓名 | TACHI, Susumu | |||||
著者別名 | ||||||
識別子 | 106628 | |||||
識別子Scheme | WEKO | |||||
姓名 | SAKAKI, Taisuke | |||||
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 | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This research is concerned with master slave manipulation. A new master slave system in tele-existence mode, i.e., impedance controlled master slave system, is presented. Impedance control of the manipulators is applied to this system. The system regulates the impedances of the master and the slave so that they coincide, and it generates the impedance models of the environment. Four basic control methods are proposed as the extension of conventional bilateral systems and it is shown that most of them can be transformed to each other by calculating force information even with less force information. They are also applied to the system with time delay. These methods are verified in the experiments with a two degrees of freedom direct drive manipulator. | |||||
書誌情報 |
日本ロボット学会誌 巻 8, 号 3, p. 241-252, 発行日 1990-06 |
|||||
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 |