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相似バイラテラル制御による操作感覚の増幅
http://hdl.handle.net/2261/7215
http://hdl.handle.net/2261/721569432d11-d2da-4611-ba95-c2e2c96b8112
名前 / ファイル | ライセンス | アクション |
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1303B137.pdf (621.8 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 | 相似バイラテラル制御による操作感覚の増幅 | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題 | Bilateral Control | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Scaling Rules | |||||
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 | Amplification of Sensation of Manipulation by Scaled Bilateral Control | |||||
著者 |
榊, 泰輔
× 榊, 泰輔× 舘, 暲 |
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著者別名 | ||||||
識別子 | 106549 | |||||
識別子Scheme | WEKO | |||||
姓名 | SAKAKI, Taisuke | |||||
著者別名 | ||||||
識別子 | 106550 | |||||
識別子Scheme | WEKO | |||||
姓名 | TACHI, Susumu | |||||
著者所属 | ||||||
著者所属 | 安川電機つくば研究所 | |||||
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 proposes the scaled bilateral control system which amplifies the sensation of force, length, and dynamics in tele-manipulation. The bilateral control should be utilized in the teleoperation where the physical scales between the master and slave environments are different. Scaling rules are applied to design the bilateral system with an extension of the impedance control type bilateral control system. The response of amplified sensation and the contact stability of the system are discussed. Also, the proposed system is verified with the experiments with a pair of linear sliders. | |||||
書誌情報 |
日本ロボット学会誌 巻 13, 号 3, p. 441-448, 発行日 1995-04 |
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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 |