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Article: 通信遅れを有するテレマニピュレーションシステムの受動性に基づく安定なパワースケーリング手法
Title | 通信遅れを有するテレマニピュレーションシステムの受動性に基づく安定なパワースケーリング手法 Passive Realization of Power scaling of Telemanipulator with Communication Time Delay |
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Authors | |
Keywords | Telemanipulation Power Scaling Control Robot Passivity Time Delay |
Issue Date | 1998 |
Citation | 日本機械学会論文集C編, 1998, v. 64, n. 621, p. 1780-1785 How to Cite? Transactions of the Japan Society of Mechanical Engineers, Part C, 1998, v. 64, n. 621, p. 1780-1785 How to Cite? |
Abstract | This paper proposes an alternative power-scaling algorithm of a controlled telemanipulator with time delay in the transmission line. In the proposed algorithm the motion and force relation, or the power scale, between the master manipulator and the slave manipulator can be specified freely by using two scaling factors. In this system, a communication part of a telemanipulator, which has the time delay, is stabilized based on the scattering transformation. Besides, in the sense of passivity, the scaling algorithm for realizing the power scaling stably is discussed. Although the power scaling had been considered to violate the passivity condition, in the proposed scaling approach, the total stability of the resultant system is guaranteed for an operator and a passive environment with unknown dynamics in view of passivity. The proposed method is experimentally applied to a telemanipulator and the experimental results illustrate the validity of the system. © 1998, The Japan Society of Mechanical Engineers. All rights reserved. |
Persistent Identifier | http://hdl.handle.net/10722/302898 |
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 | Naniwa, Irizou | - |
dc.contributor.author | Fukuda, Toshio | - |
dc.date.accessioned | 2021-09-07T08:42:48Z | - |
dc.date.available | 2021-09-07T08:42:48Z | - |
dc.date.issued | 1998 | - |
dc.identifier.citation | 日本機械学会論文集C編, 1998, v. 64, n. 621, p. 1780-1785 | - |
dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers, Part C, 1998, v. 64, n. 621, p. 1780-1785 | - |
dc.identifier.issn | 0387-5024 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302898 | - |
dc.description.abstract | This paper proposes an alternative power-scaling algorithm of a controlled telemanipulator with time delay in the transmission line. In the proposed algorithm the motion and force relation, or the power scale, between the master manipulator and the slave manipulator can be specified freely by using two scaling factors. In this system, a communication part of a telemanipulator, which has the time delay, is stabilized based on the scattering transformation. Besides, in the sense of passivity, the scaling algorithm for realizing the power scaling stably is discussed. Although the power scaling had been considered to violate the passivity condition, in the proposed scaling approach, the total stability of the resultant system is guaranteed for an operator and a passive environment with unknown dynamics in view of passivity. The proposed method is experimentally applied to a telemanipulator and the experimental results illustrate the validity of the system. © 1998, 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, Part C | - |
dc.subject | Telemanipulation | - |
dc.subject | Power Scaling | - |
dc.subject | Control | - |
dc.subject | Robot | - |
dc.subject | Passivity | - |
dc.subject | Time Delay | - |
dc.title | 通信遅れを有するテレマニピュレーションシステムの受動性に基づく安定なパワースケーリング手法 | - |
dc.title | Passive Realization of Power scaling of Telemanipulator with Communication Time Delay | - |
dc.type | Article | - |
dc.description.nature | link_to_OA_fulltext | - |
dc.identifier.doi | 10.1299/kikaic.64.1780 | - |
dc.identifier.scopus | eid_2-s2.0-84872582338 | - |
dc.identifier.volume | 64 | - |
dc.identifier.issue | 621 | - |
dc.identifier.spage | 1780 | - |
dc.identifier.epage | 1785 | - |