WEKO3
アイテム
{"_buckets": {"deposit": "0fd63446-1a11-4ed8-ab39-9140151d4597"}, "_deposit": {"id": "462", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "462"}, "status": "published"}, "_oai": {"id": "oai:repository.dl.itc.u-tokyo.ac.jp:00000462", "sets": ["14", "36"]}, "item_2_alternative_title_1": {"attribute_name": "その他のタイトル", "attribute_value_mlt": [{"subitem_alternative_title": "Impedance Controlled Master Slave Manipulation System Part II : Modification of Force Sensation and Extension of Operation Capability"}]}, "item_2_biblio_info_7": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "1990-06", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "3", "bibliographicPageEnd": "264", "bibliographicPageStart": "253", "bibliographicVolumeNumber": "8", "bibliographic_titles": [{"bibliographic_title": "日本ロボット学会誌"}]}]}, "item_2_description_13": {"attribute_name": "フォーマット", "attribute_value_mlt": [{"subitem_description": "application/pdf", "subitem_description_type": "Other"}]}, "item_2_description_5": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "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.", "subitem_description_type": "Abstract"}]}, "item_2_full_name_3": {"attribute_name": "著者別名", "attribute_value_mlt": [{"nameIdentifiers": [{"nameIdentifier": "106631", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "SAKAKI, Taisuke"}]}, {"nameIdentifiers": [{"nameIdentifier": "106632", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "TACHI, Susumu"}]}]}, "item_2_publisher_20": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "日本ロボット学会"}]}, "item_2_source_id_10": {"attribute_name": "書誌レコードID", "attribute_value_mlt": [{"subitem_source_identifier": "AN00141189", "subitem_source_identifier_type": "NCID"}]}, "item_2_source_id_8": {"attribute_name": "ISSN", "attribute_value_mlt": [{"subitem_source_identifier": "02891824", "subitem_source_identifier_type": "ISSN"}]}, "item_2_subject_15": {"attribute_name": "日本十進分類法", "attribute_value_mlt": [{"subitem_subject": "548.3", "subitem_subject_scheme": "NDC"}]}, "item_2_text_34": {"attribute_name": "資源タイプ", "attribute_value_mlt": [{"subitem_text_value": "Journal Article"}]}, "item_2_text_4": {"attribute_name": "著者所属", "attribute_value_mlt": [{"subitem_text_value": "安川電機製作所"}, {"subitem_text_value": "機械技術研究所"}]}, "item_creator": {"attribute_name": "著者", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "榊, 泰輔"}], "nameIdentifiers": [{"nameIdentifier": "106629", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "舘, 暲"}], "nameIdentifiers": [{"nameIdentifier": "106630", "nameIdentifierScheme": "WEKO"}]}]}, "item_files": {"attribute_name": "ファイル情報", "attribute_type": "file", "attribute_value_mlt": [{"accessrole": "open_date", "date": [{"dateType": "Available", "dateValue": "2017-06-26"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "0803B013.pdf", "filesize": [{"value": "763.4 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 763400.0, "url": {"label": "0803B013.pdf", "url": "https://repository.dl.itc.u-tokyo.ac.jp/record/462/files/0803B013.pdf"}, "version_id": "6fa42582-6480-4ef1-9307-a85a2b9f86d3"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "Impedance Control", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Master Slave Manipulation", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Tele-Existence", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Similarity Transformation", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Physical Modelling", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Telerobotics", "subitem_subject_scheme": "Other"}]}, "item_language": {"attribute_name": "言語", "attribute_value_mlt": [{"subitem_language": "jpn"}]}, "item_resource_type": {"attribute_name": "資源タイプ", "attribute_value_mlt": [{"resourcetype": "journal article", "resourceuri": "http://purl.org/coar/resource_type/c_6501"}]}, "item_title": "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", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "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"}]}, "item_type_id": "2", "owner": "1", "path": ["14", "36"], "permalink_uri": "http://hdl.handle.net/2261/7230", "pubdate": {"attribute_name": "公開日", "attribute_value": "2010-03-12"}, "publish_date": "2010-03-12", "publish_status": "0", "recid": "462", "relation": {}, "relation_version_is_last": true, "title": ["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"], "weko_shared_id": null}
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
http://hdl.handle.net/2261/7230e6c02c4b-73b5-4d6c-a759-0f95c285c5fe
名前 / ファイル | ライセンス | アクション |
---|---|---|
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× 舘, 暲 |
|||||
著者別名 | ||||||
識別子 | 106631 | |||||
識別子Scheme | WEKO | |||||
姓名 | SAKAKI, Taisuke | |||||
著者別名 | ||||||
識別子 | 106632 | |||||
識別子Scheme | WEKO | |||||
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 |