位置決め作業アシストのための操作力依存可変ダンピング制御 Force-Dependent Variable Damping Control for Positioning Task Assist

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抄録

This paper is concerned about a variable impedance control for human-machine cooperative positioning systems. The prospective profile is found from the dynamic equation and the properties of the operational profiles known as suitable ones. We propose a simple variable impedance control in which the damping coefficient is varied according to the operational force of human based on the above profile. The experiments of positioning tasks are examined and the effectiveness of the proposed method is shown. The properties on conventional methods are compared.

This paper is concerned about a variable impedance control for human-machine cooperative positioning systems. The prospective profile is found from the dynamic equation and the properties of the operational profiles known as suitable ones. We propose a simple variable impedance control in which the damping coefficient is varied according to the operational force of human based on the above profile. The experiments of positioning tasks are examined and the effectiveness of the proposed method is shown. The properties on conventional methods are compared.

収録刊行物

  • 日本ロボット学会誌 = Journal of Robotics Society of Japan  

    日本ロボット学会誌 = Journal of Robotics Society of Japan 25(2), 306-313, 2007-03-01 

    社団法人 日本ロボット学会

参考文献:  27件

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被引用文献:  4件

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各種コード

  • NII論文ID(NAID)
    10018869736
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    8747993
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  IR  J-STAGE 
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