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  1. 124 情報理工学系研究科
  2. 30 システム情報学専攻
  3. 1243010 学術雑誌論文
  1. 0 資料タイプ別
  2. 10 学術雑誌論文
  3. 015 技術・工学

力センサを用いないダイレクト・ドライブ・マニピュレータのインピーダンス制御

http://hdl.handle.net/2261/7227
36e6d5af-cce4-4497-82c3-624811f54853
名前 / ファイル ライセンス アクション
0703B060.pdf 0703B060.pdf (761.4 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 力センサを用いないダイレクト・ドライブ・マニピュレータのインピーダンス制御
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 Compliance Control
主題Scheme Other
キーワード
主題 Direct Drive Manipulator
主題Scheme Other
キーワード
主題 Model-based Control
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 Control of a Direct Drive Manipulator without Using Force Sensors
著者 舘, 暲

× 舘, 暲

WEKO 106611

舘, 暲

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榊, 泰輔

× 榊, 泰輔

WEKO 106612

榊, 泰輔

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荒井, 裕彦

× 荒井, 裕彦

WEKO 106613

荒井, 裕彦

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西澤, 昭一郎

× 西澤, 昭一郎

WEKO 106614

西澤, 昭一郎

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ペラエス・ポロ, ホセ・フェリペ

× ペラエス・ポロ, ホセ・フェリペ

WEKO 106615

ペラエス・ポロ, ホセ・フェリペ

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著者別名
識別子
識別子 106616
識別子Scheme WEKO
姓名
姓名 TACHI, Susumu
著者別名
識別子
識別子 106617
識別子Scheme WEKO
姓名
姓名 SAKAKI, Taisuke
著者別名
識別子
識別子 106618
識別子Scheme WEKO
姓名
姓名 ARAI, Hirohiko
著者別名
識別子
識別子 106619
識別子Scheme WEKO
姓名
姓名 NISHIZAWA, Shoichiro
著者別名
識別子
識別子 106620
識別子Scheme WEKO
姓名
姓名 PELAEZ-POLO, Jose Felipe
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
著者所属
著者所属 メキシコ国立大学
抄録
内容記述タイプ Abstract
内容記述 This reseach is concerned with impedance control of a manipulator which exerts stable contact task. The method controls dynamic interaction between a robot and its environment by changing the apparent mechanical impedance of the manipulator. Previous impedance control methods required force or torque sensors, which made the manipulator system most complex. In this paper a new method is proposed to control the impedance of a manipulator without using force or torque sensors. Angular velocity and acceleration of the manipulator joints are estimated, and by using the computer model of the manipulator necessary torque for each joint is caluculated and applied to the joint to attain the desired impedance. The feasibility of the method is verified by the surface following experiments and collision experiments using a two degree of freedom DD manipulator.
書誌情報 日本ロボット学会誌

巻 7, 号 3, p. 172-184, 発行日 1989-06
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
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