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Article: 仮想反力を用いたマスタスレイブマニピュレータの制御
Title | 仮想反力を用いたマスタスレイブマニピュレータの制御 Control of Master-Slave Manipulator Using Virtual Force |
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Authors | |
Keywords | Damping Control Stiffness Control Bilateral Feedback Robot Master-Slave Manipulator |
Issue Date | 1994 |
Citation | 日本機械学会論文集C編, 1994, v. 60, n. 578, p. 3440-3445 How to Cite? Transactions of the Japan Society of Mechanical Engineers Series C, 1994, v. 60, n. 578, p. 3440-3445 How to Cite? |
Abstract | We propose a control system for a master-slave manipulator system having a rate-controlled slave manipulator. In this system, the master manipulator is stiffness-controlled in the Cartesian coordinate system, and the slave manipulator is damping-controlled in the Cartesian coordinate system. The desired velocity of the slave arm is given by a displacement of the master arm from a nominal position. The operator feels virtual contact force from the environment because the contact force is proportional to the displacement when the slave arm motion is constrained by the environment. The proposed method is experimentally applied to manipulators with three degrees of freedom. The experimental results illustrate the validity of the proposed system. © 1994, The Japan Society of Mechanical Engineers. All rights reserved. |
Persistent Identifier | http://hdl.handle.net/10722/302631 |
ISSN | 2019 SCImago Journal Rankings: 0.104 |
DC Field | Value | Language |
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dc.contributor.author | Kosuge, Kazuhiro | - |
dc.contributor.author | Itoh, Tomotaka | - |
dc.contributor.author | Fukuda, Toshio | - |
dc.contributor.author | Sakamoto, Keizoh | - |
dc.contributor.author | Noma, Yasuo | - |
dc.date.accessioned | 2021-09-07T08:42:17Z | - |
dc.date.available | 2021-09-07T08:42:17Z | - |
dc.date.issued | 1994 | - |
dc.identifier.citation | 日本機械学会論文集C編, 1994, v. 60, n. 578, p. 3440-3445 | - |
dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers Series C, 1994, v. 60, n. 578, p. 3440-3445 | - |
dc.identifier.issn | 0387-5024 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302631 | - |
dc.description.abstract | We propose a control system for a master-slave manipulator system having a rate-controlled slave manipulator. In this system, the master manipulator is stiffness-controlled in the Cartesian coordinate system, and the slave manipulator is damping-controlled in the Cartesian coordinate system. The desired velocity of the slave arm is given by a displacement of the master arm from a nominal position. The operator feels virtual contact force from the environment because the contact force is proportional to the displacement when the slave arm motion is constrained by the environment. The proposed method is experimentally applied to manipulators with three degrees of freedom. The experimental results illustrate the validity of the proposed system. © 1994, The Japan Society of Mechanical Engineers. All rights reserved. | - |
dc.language | jpn | - |
dc.relation.ispartof | 日本機械学会論文集C編 | - |
dc.relation.ispartof | Transactions of the Japan Society of Mechanical Engineers Series C | - |
dc.subject | Damping Control | - |
dc.subject | Stiffness Control | - |
dc.subject | Bilateral Feedback | - |
dc.subject | Robot | - |
dc.subject | Master-Slave Manipulator | - |
dc.title | 仮想反力を用いたマスタスレイブマニピュレータの制御 | - |
dc.title | Control of Master-Slave Manipulator Using Virtual Force | - |
dc.type | Article | - |
dc.description.nature | link_to_OA_fulltext | - |
dc.identifier.doi | 10.1299/kikaic.60.3440 | - |
dc.identifier.scopus | eid_2-s2.0-0028532535 | - |
dc.identifier.volume | 60 | - |
dc.identifier.issue | 578 | - |
dc.identifier.spage | 3440 | - |
dc.identifier.epage | 3445 | - |