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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

インピーダンス制御型マスタ・スレーブ・システム (II) : 操作感の変更と操作能力の拡張

http://hdl.handle.net/2261/7230
e6c02c4b-73b5-4d6c-a759-0f95c285c5fe
名前 / ファイル ライセンス アクション
0803B013.pdf 0803B013.pdf (763.4 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 インピーダンス制御型マスタ・スレーブ・システム (II) : 操作感の変更と操作能力の拡張
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 Similarity Transformation
主題Scheme Other
キーワード
主題 Physical Modelling
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 System Part II : Modification of Force Sensation and Extension of Operation Capability
著者 榊, 泰輔

× 榊, 泰輔

WEKO 106629

榊, 泰輔

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舘, 暲

× 舘, 暲

WEKO 106630

舘, 暲

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著者別名
識別子
識別子 106631
識別子Scheme WEKO
姓名
姓名 SAKAKI, Taisuke
著者別名
識別子
識別子 106632
識別子Scheme WEKO
姓名
姓名 TACHI, Susumu
著者所属
著者所属 安川電機製作所
著者所属
著者所属 機械技術研究所
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., the basic part of impedance controlled master slave system, has been presented in the part I. In the part II, the system is expanded so that it controls both impedance models of the environment and the manipulators, and modifies the force sensation of the master and slave manipulators as if an operator were in the different physical environment, and the impedances of the master and slave manipulators are determined by using similarity transformation in physical modelling when the manipulators have different scales, force and/or velocity conditions. These methods are verified in the experiments with the 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. 253-264, 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
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