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形状とインピーダンスの同時測定法
http://hdl.handle.net/2261/7221
http://hdl.handle.net/2261/7221f293629a-24ce-4dca-b52b-40946b661385
名前 / ファイル | ライセンス | アクション |
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1507B037.pdf (423.7 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 | 形状とインピーダンスの同時測定法 | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題 | Mechanical Impedance | |||||
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 | Simultaneous Measurement of Shape and Mechanical Impedance of an Object | |||||
著者 |
江村, 暁
× 江村, 暁× 舘, 暲 |
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著者別名 | ||||||
識別子 | 106579 | |||||
識別子Scheme | WEKO | |||||
姓名 | EMURA, Satoru | |||||
著者別名 | ||||||
識別子 | 106580 | |||||
識別子Scheme | WEKO | |||||
姓名 | TACHI, Susumu | |||||
著者所属 | ||||||
著者所属 | 東京大学工学部 | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | Desyncronized tele-robotics by virtual reality technology has been studied by many researchers. This approach does not couple an operator and a slave robot directly like bilateral master-slave teleoperation system, so the smart search of the remote environment by autonomous slave robots is strongly required. In this paper, we propose a method which can measure the mechanical impedance and shape of a target object and environment with the robot under impedance control by adding perturbation to the virtual trajectory. First, it is considered what kind of perturbation is necessary and realistic for that purpose. Then, we show that the robot with a single force sensor is insufficient for simultaneous estimation of mechanical impedance and shape, and that the measurement of force at plural points on the contact surface is essenstial. The validity of the method is checked by a 2DOF real robot. | |||||
書誌情報 |
日本ロボット学会誌 巻 15, 号 7, p. 997-1003, 発行日 1997-10 |
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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 |