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サーボ系をベースとしたインピーダンス制御における接触安定性の改善方法
http://hdl.handle.net/2261/7217
http://hdl.handle.net/2261/7217fc435a89-da50-4bf1-91d8-2c9baa43c464
名前 / ファイル | ライセンス | アクション |
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1305B077.pdf (508.7 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 | サーボ系をベースとしたインピーダンス制御における接触安定性の改善方法 | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題 | Servo-Based Impedance Control | |||||
主題Scheme | Other | |||||
キーワード | ||||||
主題 | Contact Stability | |||||
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 | A Stabilizing Method of Contact Tasks on Servo-based Impedance Control | |||||
著者 |
榊, 泰輔
× 榊, 泰輔× 舘, 暲 |
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著者別名 | ||||||
識別子 | 106559 | |||||
識別子Scheme | WEKO | |||||
姓名 | SAKAKI, Taisuke | |||||
著者別名 | ||||||
識別子 | 106560 | |||||
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 a new control algorithm of servo-based impedance control of robot manipulator for stabilization of contact task. There still has been stability problem of servo-based impedance control when a manipulator contacts to a stiff environment with a small viscosity coefficient of target impedance. The paper shows a stabilizing method for impedance control even with a small target viscosity. The proposed control system modifies the target dynamics model, but has no necessity to change the servo-control system. The simulations and contact task experiments show an extremely similar response to a target impedance and verify sophisticated contact stability with an one-tenth target viscosity and with over two times larger velocity more than the stability conditions limited for conventional control methods. | |||||
書誌情報 |
日本ロボット学会誌 巻 13, 号 5, p. 659-665, 発行日 1995-07 |
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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 |