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安定した接触を実現するアドミッタンス制御手法
http://hdl.handle.net/10748/5546
http://hdl.handle.net/10748/5546f146ea32-6d8f-46d8-bdf8-6e79f7cee393
名前 / ファイル | ライセンス | アクション |
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10668-001.pdf (1.4 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2013-07-16 | |||||
タイトル | ||||||
タイトル | 安定した接触を実現するアドミッタンス制御手法 | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Admittance control | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Impedance control | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Human-machine system | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Cooperative task system | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Power assist | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者 |
武居, 直行
× 武居, 直行× 野畑, 茂広× 藤本, 英雄 |
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著者(ヨミ) |
タケスエ, ナオユキ
× タケスエ, ナオユキ× ノバタ, シゲヒロ× フジモト, ヒデオ |
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著者別名 |
Takesue, Naoyuki
× Takesue, Naoyuki× Nobata, Shigehiro× Fujimoto, Hideo |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper is concerned with the human-robot system such as power assist system based on the position-control-based impedance control (admittance control). The system has two force inputs from the operator and the environment, which may cause the vibratory behavior when the robot comes in contact with the environment. It is because the operational force and the contact force do not balance due to the noise, error, delay and so on. This paper proposes the admittance control with two inputs that achieves steady contact with an environment by modifying the contact force information. The effectiveness of the proposed method is demonstrated through several experiments. | |||||
書誌情報 |
日本ロボット学会誌 巻 26, 号 6, p. 635-642, 発行日 2008-09 |
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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 | |||||
権利 | ||||||
権利情報 | 日本ロボット学会 | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
その他のタイトル | ||||||
その他のタイトル | Admittance Control Method Achieving Steady Contact | |||||
出版者 | ||||||
出版者 | 日本ロボット学会 |