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Article: 受動性に基づくテレマニピュレータのTask-Oriented制御
Title | 受動性に基づくテレマニピュレータのTask-Oriented制御 Task-Oriented Control of Telemanipulator Based on Passivity |
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Authors | |
Keywords | Robot Control Virtual Mechanism Passivity Task-Oriented Control Master-slave Manipulator Teleoperation |
Issue Date | 1995 |
Citation | 日本機械学会論文集C編, 1995, v. 61, n. 590, p. 4007-4012 How to Cite? Transactions of the Japan Society of Mechanical Engineers Series C, 1995, v. 61, n. 590, p. 4007-4012 How to Cite? |
Abstract | This paper proposes a control algorithm of a master-slave manipulator system based on passivity of the system. We model task-oriented characteristics as a task-oriented virtual me chanism and control the master-slave system so that it has the dynamics of the task-oriented virtual mechanism. The master-slave manipulator system works as a tool for a given task in the proposed system. We demonstrate the total stability of the system including an operator and a passive environment based on the passivity of the proposed master-slave system. The proposed method is experimentally applied to a master-slave manipulator and the experimental results illustrate the validity of the system. © 1995, The Japan Society of Mechanical Engineers. All rights reserved. |
Persistent Identifier | http://hdl.handle.net/10722/302657 |
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 | Otsuka, Manabu | - |
dc.date.accessioned | 2021-09-07T08:42:20Z | - |
dc.date.available | 2021-09-07T08:42:20Z | - |
dc.date.issued | 1995 | - |
dc.identifier.citation | 日本機械学会論文集C編, 1995, v. 61, n. 590, p. 4007-4012 | - |
dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers Series C, 1995, v. 61, n. 590, p. 4007-4012 | - |
dc.identifier.issn | 0387-5024 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302657 | - |
dc.description.abstract | This paper proposes a control algorithm of a master-slave manipulator system based on passivity of the system. We model task-oriented characteristics as a task-oriented virtual me chanism and control the master-slave system so that it has the dynamics of the task-oriented virtual mechanism. The master-slave manipulator system works as a tool for a given task in the proposed system. We demonstrate the total stability of the system including an operator and a passive environment based on the passivity of the proposed master-slave system. The proposed method is experimentally applied to a master-slave manipulator and the experimental results illustrate the validity of the system. © 1995, 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 | Robot | - |
dc.subject | Control | - |
dc.subject | Virtual Mechanism | - |
dc.subject | Passivity | - |
dc.subject | Task-Oriented Control | - |
dc.subject | Master-slave Manipulator | - |
dc.subject | Teleoperation | - |
dc.title | 受動性に基づくテレマニピュレータのTask-Oriented制御 | - |
dc.title | Task-Oriented Control of Telemanipulator Based on Passivity | - |
dc.type | Article | - |
dc.description.nature | link_to_OA_fulltext | - |
dc.identifier.doi | 10.1299/kikaic.61.4007 | - |
dc.identifier.scopus | eid_2-s2.0-0029389035 | - |
dc.identifier.volume | 61 | - |
dc.identifier.issue | 590 | - |
dc.identifier.spage | 4007 | - |
dc.identifier.epage | 4012 | - |