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Article: 拡張仮想ツールを用いた人間機械協調型テレマニビュレーションシステムの構築
Title | 拡張仮想ツールを用いた人間機械協調型テレマニビュレーションシステムの構築 A Design Method of Human-machine Cooperative Telemanipulation System Based on Extended virtual Tool Dynamics |
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Authors | |
Keywords | Extended Virtual Tool Control Passivity Telemanipulation Robot Human machine Cooperation |
Issue Date | 1999 |
Citation | 日本機械学会論文集C編, 1999, v. 65, n. 639, p. 4364-4371 How to Cite? Transactions of the Japan Society of Mechanical Engineers, Part C, 1999, v. 65, n. 639, p. 4364-4371 How to Cite? |
Abstract | This paper proposes an alternative control algorithm for a telemanipulator based on the extended virtual tool dynamics. In this algorithm the system is controlled so that it has the extended virtual tool dynamics which is designed appropriately for a given task. During the task, the dynamics assists a human operator as if it were a real mechanical tool and it improves the reality and the system maneuverability in the teleoperation. The major contribution of this paper is a realization of a new human-machine cooperative telemanipulation system by using the redundancy which exists immanently in the telemanipulation system. In this paper, the algorithm is experimentally applied to a telemanipulation system and the result illustrates the validity of the proposed system. © 1999, The Japan Society of Mechanical Engineers. All rights reserved. |
Persistent Identifier | http://hdl.handle.net/10722/302977 |
ISSN | 2019 SCImago Journal Rankings: 0.104 |
DC Field | Value | Language |
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dc.contributor.author | Itoh, Tomotaka | - |
dc.contributor.author | Andoh, Akitaka | - |
dc.contributor.author | Matsui, Takashi | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.contributor.author | Fukuda, Toshio | - |
dc.date.accessioned | 2021-09-07T08:42:57Z | - |
dc.date.available | 2021-09-07T08:42:57Z | - |
dc.date.issued | 1999 | - |
dc.identifier.citation | 日本機械学会論文集C編, 1999, v. 65, n. 639, p. 4364-4371 | - |
dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers, Part C, 1999, v. 65, n. 639, p. 4364-4371 | - |
dc.identifier.issn | 0387-5024 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302977 | - |
dc.description.abstract | This paper proposes an alternative control algorithm for a telemanipulator based on the extended virtual tool dynamics. In this algorithm the system is controlled so that it has the extended virtual tool dynamics which is designed appropriately for a given task. During the task, the dynamics assists a human operator as if it were a real mechanical tool and it improves the reality and the system maneuverability in the teleoperation. The major contribution of this paper is a realization of a new human-machine cooperative telemanipulation system by using the redundancy which exists immanently in the telemanipulation system. In this paper, the algorithm is experimentally applied to a telemanipulation system and the result illustrates the validity of the proposed system. © 1999, 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 | Extended Virtual Tool | - |
dc.subject | Control | - |
dc.subject | Passivity | - |
dc.subject | Telemanipulation | - |
dc.subject | Robot | - |
dc.subject | Human machine Cooperation | - |
dc.title | 拡張仮想ツールを用いた人間機械協調型テレマニビュレーションシステムの構築 | - |
dc.title | A Design Method of Human-machine Cooperative Telemanipulation System Based on Extended virtual Tool Dynamics | - |
dc.type | Article | - |
dc.description.nature | link_to_OA_fulltext | - |
dc.identifier.doi | 10.1299/kikaic.65.4364 | - |
dc.identifier.scopus | eid_2-s2.0-85024452070 | - |
dc.identifier.volume | 65 | - |
dc.identifier.issue | 639 | - |
dc.identifier.spage | 4364 | - |
dc.identifier.epage | 4371 | - |